When I learn a new chord, I start by doing it slowly making sure I am landing my fingers where they need to be and not accidently touching other strings. Then as I get better I can do it a little faster. After that, I can do it faster without looking. Before you know it you are a pro.
Just keep practicing until you get it.
"I'm a rocker dude through and through. I like Van Halen, not Van Hagar" - Joe Dirt