i dont want to get lessons from a private instructor, is there any way i can self learn?

yes, but only if you have theory/knowledge from playing a previous instrument.

Also technique for piano is extremely important to get right; you should learn to do things right the first time

http://www.youtube.com/playlist?list=PL253192EED47525A8&feature=plcp

This is how i learned some of the basics. then I just went to youtube and watched peoples hands =P after that. learn to read sheet music and do it often and after awhile. you can play pieces someone just puts in front of you

I've played saxophone for ~6 years, it's been almost 9 years since I've playe an instrument

I would very much so like to pick it back up again. Saxophone and learn piano in the process

Thanks. I actually forgot how to read notes and piano sheet music looks very complicating

I would suggest you to read some books about it.
I've learned the basic of piano before learning guitar and bass and it helped me alot.

vouch.
piano was the first instrument i learned and theory is crucial. it's probably the easiest instrument to learn theory on because all the notes are laid out for you.