Don't be afraid! There's Marvel Unlimited, which is basically Netflix for comics, and it has a free month trial going on right now, it has pretty much all the major issues I think. If you want to read Daredevil, jumping in at Vol. 3 (2011-2014) is very accessible after watching the show.

You can also see this Reddit guide to getting started on various other comic series and what all the big cross-over events are: http://www.reddit.com/r/marvel/wiki/faq