I am familiar with Swahili, even though I don't speak it. I took a class a few semesters ago called the "Structure of Bantu languages". (Swahili is part of that language family). Do you have any specific questions about syntax, morphology, or phonology? I can probably help with that using my notes as an aid. Honestly, you could probably get similar information from a library or on-line source. All Bantu languages are fascinating and have a radically different structure than Indo-european languages.
The best way to learn a language is to go to a country where it is spoken. I remember hearing about a great immersion Swahili program on the island of Lamu Lamu which is off the coast of Kenya. I really wanted to go, but couldn't for a number of reasons.