Lisa, we did medicated IUI (we are a lesbian couple and used donor sperm). Don't be intimidated by the thought of this! Just a little help from an RE does so much - they can take male ejaculate and spin it and seperate it and by putting it inside your body for you through a long flexible tube (you lay on the table awake, like a pap smear basically). The spinning they do to the sperm help with the count and motility, and the IUI in the uterus puts them up by the egg so they don't have to swim and swim. The IUI is no worse than a pap smear, I promise.
At our clinic, it was $300 per cycle for everything, including the sperm prep and the IUI. They often give the woman clomid or femara to help boost the chances a bit (the clomid adds about $50 more). Often they will also add something called a trigger shot, which is a one time shot you get the day before the IUI that makes the egg release (that is what did the trick for me), the trigger shot added another $40 I think. For the $300 they will take your DH sperm and wash and spin it, analyze it and tell you the results, they will do an ultrasound on you to make sure your eggs look good before the trigger shot, and they will do the IUI. Our RE liked to let the DP/DH do the IUI (basically push the syringe) once the long little tube was up there in the uterus.
And our RE office, they would let men bring their sperm in from home as long as they got to the office within an hour. You drop it off in the morning and then come in a bit later for the IUI.
If your DH has some sperm issues, a urologist can suggest different things... including they sometimes give MEN clomid. Hope this helps, if you have anything specific you want to know just ask!