Get up VERY early. Go east in Yosemite Valley, drive past Stoneman Bridge, pull over next to Stoneman Meadow and take the path at the far west end of the meadow past the fallen tree branch and them go to the northern most oak tree at the edge of the meadow. Dress warmly and enjoy the amazing light show. :-)
Keep in mind that if your exposure is over 30 seconds you are going to get star tracks. If you have never done night or low light outdoor photography it isn't as hard as it may seem. Outdoor Photography magazine has some great articles and if you need demonstrations on how, try YouTube. Keep at it, it takes some time to get the hang of it and to learn the limits of your camera. Most of all... have fun. :-)
Pre-dawn of Half Dome, North Dome and Washington Column with the tail of Big Dipper. Taken from Stoneman Meadow in late October, 2012.