You have to use the hot towel, or shave right after taking a shower. But honestly, I had to do that before using a safety razor too. So, I guess it wasn't a big change for me. Also, the trick with lathering is to either use a bowl or your hand. Wet the brush, squeeze the excess water out by gently squeezing the bristles at the base and pulling toward the end of the bristles. The water will run out. Then, if you are using soap in a bowl, swirl the brush around in the soap, pressing just hard enough to splay the bristles out. If you have a good soap, the lather will develop within seconds. If using a cream, put a dallop in the palm of your hand, then move the brush in a circular motion in the palm of your hand until it lathers. Creams are more picky about needing the right amount of hydration, so if it isn't lathering add a bit more water, if it is too loose of a lather, use less water in the brush. The lather should be rich and thick and you'll know it when you see it.
When it comes to the razor itself, the blades are a big factor. I almost threw it all away at first because I had these expensive blades that were ****. In the end, basic CVS blades worked the best for me. You can try different types, but don't be fooled by "big name" blades. The other part with safety razors is that you have to let the weight of the razor do the work. Don't pull the blade across your face, let gravity pull the blade down your face. You also want a flatter angle than you are used to with cartridges. Finally, don't think of it as beard removal but beard reduction. Let a little bit of beard be reduced with each pass. Taking the entire whisker off on one swoop means you are digging in and that leads to cuts. I pass the blade of each area of my face three times. When I'm done, my face is a smooth as glass.
Big thing is don't give up after one attempt. It takes time to get it right, and once you do, you will appreciate the feeling of a well shaved face so much, you'll likely never go back. Or at least everybody I know who has gotten the hang of it agrees with that statement.