For matplotlib, you want to start with a pyplot tutorial. From that link, "matplotlib.pyplot is a collection of command style functions that make matplotlib work like MATLAB." which is basically what you want to learn at first. Later, if you want to, say embed it in a Qt app, you can learn to do that without much difficulty (well, if you know Qt).
I can't recommend any tutorial for numpy, because I don't use it much. It's basically consists of MATLAB style functions, and it's array based (not lists). The resources I use the most are the docs and this tutorial.
I would highly recommend installing from a distribution such as Anaconda, which will come with Scipy among many other libraries preinstalled.
Sorry if this is not the advice you are looking for. Good luck.