It's pretty straight forward: and btw yes css is the way to go; xpath should be only used as a measure of last resort. http://sauceio.com/index.php/2010/01/selenium-totw-css-selectors-in-selenium-demystified/ explains css locators in much more depth than I can in the space provided here.
Best approach: If you're using firefox download firebug, that will let you look at your html. Pres cmd+Shift+c and it'll open for you with an element highlighter. Find your html element, maybe it'll look something like this
<input type="submit" tabindex="110" value="Post Your Answer" id="submit-button">
Then you can find your element pretty simply
WebElement element = driver.findElement(By.cssSelector("input[id='submit-button']"))
Notice that we put the tagname first "input" followed by some kind of unique identifier in the brackets "input[id='submit-button']." For the most part this will cover 75% of all css locators you use. The other 25% require a little bit more tricky stuff covered in the link I placed at the top of the page.
You may ask "What kind of unique identifiers can I use besides id" well that is covered here: http://release.seleniumhq.org/selenium-remote-control/0.9.2/doc/dotnet/Selenium.html
Good luck starting out
EDIT
Well good luck finding your elements in the first place...If you need you can search elements by partial locator text like input[id*='submit']. Using that is helpful for dynamically generated elements, when you use the partial text as the part of the locator that doesn't vary from element to element.
You mentioned walking up the html tree perhaps I didn't see that when I first read the question. I think you hit the on issue at hand. Walking up the html tree isn't suggested as it makes your tests more fragile to html changes. It will also make your code unreadable in the long run as well. In general if your id's are missing or unpredictable I would suggest talking to proj. management about getting the developers to make code that can actually be automated (eg: getting identifiers implemented on critical elements). This will actually save both you and the developers alot of effort in the long run, and it will also increase the speed and reliability of your tests.