Here's how to do one step by step.
http://www.wikihow.com/Do-a-Cartwheel
Also, don't forget the basic rhythm of a cartwheel:
Hand - Hand - Foot - Foot
Focus on getting the rhythm right, and then concentrate on height of your legs. It's OK to start with baby steps!
Practice practice practice until you can get your legs up more parallel with your body and land gracefully. You'll have it in no time!