First think about these properties of the number zero. Let $r$ be any positive real number, then...
$0 < r$
$0 > -r$
$0 \cdot r = 0$
$0 + r = r$
You can think of infinitesimals as "zero-like numbers". Let $r$ be any positive real number. Then if $\epsilon$ is an infinitesimal, it has these properties:
$\epsilon < r$
$\epsilon > -r$
$\epsilon \cdot r$ is an infinitesimal
$\epsilon + r$ is "infinitely close" to the real number r
They are useful in calculus for many reasons, but the major reason that someone in Calculus 1 will appreciate is that they simplify your derivative. The traditional definition of the derivative is that $f'(x) = lim_{h \rightarrow 0} \frac{f(x+h)-f(x)}{h}$, which we must do because simply plugging in $h = 0$ as you would normally do to "solve the limit" yields the undefined algebraic expression $\frac{0}{0}$.
Infinitesimally, we define $f'(x) = ($ "the real number infinitely close to" $\frac{f(x+\epsilon) - f(x)}{\epsilon})$. This definition prevents you from having to do complicated limit arguments and lets you focus on the algebra of the situation.
Another good example where infinitesimals simplify calculus is the definition of continutiy. Usually, you define a function $f$ to be continuous at $a$ if and only if $lim_{x \rightarrow a} f(x) = f(a)$ which unpacks by the definition of limit to $\forall \epsilon > 0 \exists \delta > 0$ such that $|x - a| < \delta$ implies $|f(x) - f(a)| < \epsilon$. That is, the definition requires two universal quantifiers ("for all") and one existential ("there exists").
The infinitesimal definition of continuous is much easier to understand: "if $x$ is infinitely close to $a$, then $f(x)$ is infinitely close to $f(a)$".
The difficulty in using infinitesimals is not necessarily understanding their properties as much as it is difficulty in CONSTRUCTING them. Understanding how "infinitely close to" works is similarly not very difficult for the functions in any first calculus course. Fortunately, we usually don't worry about constructing real numbers in an introductory calculus course, so it should be reasonable to use infinitesimals in a similar way!