I've started to practice vipassana meditation and this book was gave a really practical approach. It's really pragmatic and describes everything, position, breathing, problem handling, pacing. I recommend to give it a try.

http://www.vipassana.com/meditation/mindfulness_in_plain_eng...

shameless plug, I made an ebook from the online texts

https://github.com/szaboat/ebook-mindfulness-in-plain-englis...