SharePoint 2010 has already been released. So, whether you want to try out SharePoint Foundation or the full-blown SharePoint Server 2010, you can now download the RTM versions - be it via MSDN, TechNet or the trial version.
Check out this article on how to install SharePoint Foundation 2010. I did highlight the purpose of each component and why we need to install them. Installation is pretty straightforward for a singe-server deployment so understanding what's under the hood can prove to be insightful