Quaternions are really awesome. They really aren't that more complicated and with the right functions and a math book you can be up and running in almost no time. There is an excellent example of quaternion rotation on www.ultimategameprogramming.com under the OpenGL examples/tutorials.

Definately saved my butt a few times in classes already. So much easier to rotate things with Quat's than with euelers or any other method I've seen so far. Especially if you have to take into account matrixies.

Cheers!