You get real understanding when you study the actual proof. For that, the best book I know is Smullyan's Goedel's Incompleteness Theorems. For an informal argument that can be understood by someone who doesn't know what a formal system is, I think this one is quite good.
I want to share the following explanations that I came across recently and which I enjoyed very much. I can't tell and don't suspect that they come close to an understanding of the original concepts but that they are so easy to grasp that it is worth the time if you don't already studied the extended formal versions of those concepts. In other words, by reading the following explanations your grasp of the matter will be less wrong than before but not necessarily correct.
World's shortest explanation of Gödel's theorem
by Raymond Smullyan, '5000 BC and Other Philosophical Fantasies' via Mark Dominus (ask me for the PDF of the book)
Mark Dominus further writes,
The Banach-Tarski Paradox
by MarkCC