Distance between 2 parametric lines - Vectors/Lines and Planes

Hey guys,

I have two lines with two different parametric equations.

And I was asked to find the shortest distance between the two lines.

Suppose the we have two skew lines, $\displaystyle l_1 (t) = P + tD\quad \& \quad l_2 (t) = Q + tE$

What I did was finding D x E, cross product of two directional vectors of both lines, that will give n, the normal vector to both lines.

Now I'm stuck and don't know what to do next so can someone please help me out, it'd be great if you can explain it instead of just formulas, thank you so much :D