one i used to practice the basic controls.. was FMS.. its free and there are tons of models of helis you can get by going to google and typing "FMS Models"

you can learn more and download the program at the url below..

http://n.ethz.ch/student/mmoeller/fms/index_e.html

there are a few others.. Real Flight 2 is probably the best.. however since its very expensive I have never seen it besides pics..