You might be better off using a company that handles the PCI compliance for you. You are right, PCI compliance can be a nightmare to deal with especially if you have limited resources to devote to becoming PCI compliant.
I would recommend using one of the many payment services. Payment gateways like Recurly (which I work for), Braintree and Stripe have forms that can be embedded into your site for card collection. This way your PCI liability is reduced due to the fact that the credit card number never hits your server. They will also save the credit card to use again when needed.