Using Rigidbody collider, characters Unity

Understanding the physics engine and all the options for controlling game objects can be quite daunting for a Unity newbie.
How do I know when to use a rigidbody (kinematic or non-kinematic), a collider, the CharacterControllerScript, or something else?
What are the basic guidelines for what to use, and how/when to use them?

http://answers.unity3d.com/questions/7671/guidelines-for-using-rigidbody-collider-characterc.html