These libraries are easy to use and well documented. each of them serves different purposes as well. Go ahead and explore each of them and adapt one suite your needs.
Flexi Color Picker
A lightweight, SVG-based color picker library.
Scaleable color picker with touch and AMD support (MIT)
An easy-to-use jQuery color picker for Twitter Bootstrap.
Named Color Picker
jQuery color picker w/ 2,065 named colors, mobile-friendly.