There are a lot of great threads going back many years here on the forum about where to start and what to learn and what gear to have. There is probably hours of reading, maybe days!! As you can imagine, it is something of a perennial question. The threads are scattered about a bit, which doesn't help finding them, but a search for threads with the word "start" in the title nets an awful lot.
bushcraftuk.com
It has been said, but is worth repeating, that you can learn a lot of bushcraft skills without needing to camp. Some things do rather need a camp, or permission, such as fires, but others can be practiced anywhere you can walk in the country or woods.
Tracking, plant identification, foraging, knots and rope working (like the flip-flop winch), can all be practiced in places like common land. Cutting live and dead wood can be prohibited by by-laws, but not everywhere, and one can sometimes get lucky with storm downed trees, or people doing pruning/felling and take wood home to practice carving and whittling. If one is going to make a mistake that requires a little first aid, much better to do so at home than deep in the woods. If you have no one to show you how to hold a knife, or cut safely, being at home where you can look at books, or watch and re-watch a video for reference can make it much easier to learn good technique.
We have quite strict rules here about not encouraging people to stealth camp (wild camping where they do not have permission). However, other forums do permit such discussion, particularly those that discuss things like the North Down Way. I am sure that Google will turn some things up.