This phrase is used to describe opinions or feelings that you have. It's a slightly educated and formal-sounding phrase that you use to emphasize that what you're describing is your personal experience, not a suggestion that you are making to the listener. Another way to explain it is "For me, it is..."
For me, it's hard to relate to him sometimes.
Here are some other examples:
I find it interesting to sit outside and watch the different people walking by at lunch time.
The word "hard" is especially common with "I find it":