1. The Miracle of Mindfulness, Thich Nhat Hanh
2. Mindfulness in Plain English, Bhante Gunaratana. This one is free online, though the paid copy is a bit more edited for clarity.
My primary guide is 1. It's concise and provides just the right amount of breathing exercises to help me focus while I "sit." 2 is more comprehensive but I've found it a bit too scattered, with too many tools to help with breathing that I go in circles attempting different ones. Most people I think employ a couple and ignore the rest. 1 is much better written and just a more cohesive book than 2 IMO, but they're both great books and either one alone works well as a guide to meditating.
http://www.urbandharma.org/pdf/mindfulness_in_plain_english....
As for sincere effort, it isn't full time job style, but, it isn't "just" keeping a routine. It is keeping a routine, and actively trying to improve your meditation technique. Much like going golfing every week isn't the same as intentionally practicing your swing or putting with a coach every week.
Allocate a certain room and time religiously where you will sit down every day. Reduce distractions to nil zealously.
Sit on the floor, cross your legs and close your eyes.
Now focus on taking deep slow breaths. Every time a thought comes, and you get focused on it, relax and let it go. Refocus on your breath.
Its more practice than technique.
The aim is pretty simple - be able to witness your thoughts and let them go. Finally you reach no thought.
To get started I recommend finding a group and going a few times at first to understand good posture and breathing techniques. There is no right way to meditate so which group you join probably doesn't matter. I personally like the methods of Zen or Shambhala.
I have actually managed to meditate for 20-30 minutes first thing every morning for the last 26 days in a row, although over the years I've been practicing on and off. The trick I've found to do it everyday for nearly a month now has been to use some findings in behavioral economics.
The idea is this: come up with a challenge for a month and a small but immediate punishment for yourself if you don't meet it. For example, donating $50 to an organization you hate if you don't meditate when you knew you should've (obviously any real crises are exempt from any skipping). It is amazing how well this works. Suddenly I have 20 minutes at home to just sit down so the Westboro Church doesn't get any of my money.
But to more correctly answer your question, just keeping a routine is enough. We cannot all become monks, but if you can ever get to a place where 20-40 minutes is a daily routine, it will change your life. Feel free to message me if you have any specific questions on books to start with, etc.
For the mental aspect, a good starting point is the audio session Alan Watts Teaches Mediation. http://www.youtube.com/watch?v=_tYENNBA0cA
(... http://xkcd.com/378/ )
It's just a timer, which I set for 3 to 5 minutes. When the timer reaches 0, (part of) a particular song plays. (And a record is made of the start and end times of the meditation session.)
In the rare case that I am doing something other than meditating when that song plays, I know I got so distracted that I did not even notice I got distracted -- which I take as a sign that I have an unusually pressing need for meditation that day.
Also, those 3-5 minutes sometimes cause subjective experiences of increased calmness that tend to last the rest of the day.
It probably takes longer durations to achieve some of the other effects commonly ascribed to meditation (e.g., becoming more contented). I have tried longer durations, but I judge that in my particular case they are more likely to be harmful than helpful.
Specifically, I have a bit of a chronic health problem which necessitates that my immune system remain always strong and active. Getting too much sun and not getting enough sleep are 2 things that personal experiences lead me to believe are bad for me -- and according to immunology researchers, those 2 things suppress the immune system. The suppression tends to last only a few hours or a day, but that is long enough for me to notice bad effects. Meditating for hours at a time produced subjective effects in me similar to the effects of those 2 other things that suppress my immune system.
So, that is one reason I avoid long meditation sessions and tend to advise other people with chronic health issues similar to mine to do the same.
Sometimes (particularly, in the rare situation described in grandparent in which the first meditation session of the day ends with me looking at a web browser, looking at some file on my computer or doing something else other than meditating) I do 2 to 4 sessions (of 3 to 5 minutes each) a day, and I have not experienced the adverse health effect mentioned above on such days.
By the way, a large part of time I am meditating I am resisting urges (the theme of the OP) rather than doing what most meditators describe, namely, resisting attachment to or involvement in sensations or resisting dwelling on regrets about the past or worries about the future. Specifically, urges to execute a sequence of motor actions (e.g., get out of my chair and move something that needs moving) or to plan out how to achieve some goal.
First, it's good to have a minimum amount of time in mind for a meditation session, and stick to it. You can always stay seated after your timer goes off. Without a firm minimum, it's very easy to stop as soon as you get fidgety. Speaking from my own experience, sitting through fidgetiness has been the immediate precursor to some of my most meaningful progress in meditation.
Second, consistency is more important than intensity. My (personal, inexpert) recommendation is to choose a time that you can manage every day, and stick with it. Don't over-commit, or you may get burned out. For me, 20 minutes is about right. YMMV.
Stick with it! It's very rewarding.
By "years of sincere effort" I mean practicing daily. 20-30 mins is probably enough to start. I would compare it to playing an instrument. Daily practice is pretty essential.
Do this and you will no longer have doubts about meditation. You will like it or hate it but you will know what it is.
I really prefer the 'this may mess you up if done wrong' meditation instruction to the usual sanitized new agey pap, purely on aesthetic level. It makes meditation sound like something that can actually be effective. Like a scalpel instead of a homeopathic solution.
Another fun article: http://blog.muflax.com/propaganda/why-you-dont-want-vipassan...
When you say years of sincere effort, are you talking devoting a full-time job's worth of time, or just keeping a routine?
I've been interested in meditation for a while, but it seems whenever I try and dig around I get completely lost in literature and terms and fail to see a proper starting point. I'm not looking to go crazy, I like the idea of Mindfullness and having a better understanding of how to control the ebb and flow of your thoughts.