Season1 episode 1. The Pants tent. Skip the pilot. Watch it another time,
It does get better later on, but Season 1 is still pretty good. It's where you get introduced to all of the main characters and start to pick up on the nuance of their behaviors. And at only 10 episodes per season, it doesn't take that long to get up to speed.
Also, I agree that you can get away with revisiting the pilot later. It's separate from the rest of the show, except for one reference in season 2, and watching it later gives you an interesting perspective on where the show came from.