The bassline on Stairway to Heaven can be very minimalist if you want, which cannot be said about the guitar part. Tell the guitarist you wan to do that, see if he's up to it. Hey Joe is also a pretty straightforward thing to learn.
Try printing some chord charts from www.chordie.com (songs you like), and play along with the song, I find that a good way to learn new things, and you improvise and add your own twiddles as you leasrn them.
Failing all that, find a jam night somewhere close to you, go and enjoy the experience. Music should be enjoyed, if you don't enjoy it, make your apologies and leave in a civilised manner.
Steve