I never consciously tried typing with right form (other than just casually trying it out), I just typed. The slowdown in speed from trying to learn wasn't worth the trouble of getting a perceived speed up. Besides, as a programmer, it doesn't matter if you can type fast if you're not typing much of anything.
My typing style is, rather than following a set "form", I just use what ever finger I have free to hit what ever key is in front of it when I need it. I often find myself hitting the bottom right row of keys with my thumb. It's more about using all your digits than following a form with your 8 digits. I also find that alternating your hands helps; instead of using the left hand to Shift+S you use right to hold Shift and then left to S, reduces awkward hand positions.
Right now i have a custom keyboard (
>>1379) to make it easier for me to use the keyboard rather than type faster. Being able to hit hotkeys easier, modifier keys in places that actually make sense instead of all bundled in the same place, etc. Helps far more than typing fast.