Reddit mentions of Coming to Our Senses: Healing Ourselves and the World Through Mindfulness

Many books on Buddhism have that; google can also provide a lot. There are a lot of techniques, and you may find an affinity/aptitude for one in particular.

To be honest, it's not so much technique you need to learn. More important is What are the obstacles and How do you overcome them? A good text(s) should address this.

As a few key points to put out there:

• Have compassion for your self. Failure to meditate 'perfectly' is not a failure; when you realize this is happening, that is actually a miniature triumph of awareness.
  
• Not too tight and not too loose. If you are too rigid or to lax, you won't hit the sweet spot for training your mind. The irony here is that in my experience, the lax think they are being too tight and the uptight think they are being too loose!
  
• Posture really matters, but it needs to be natural and not overly forced. Yoga can be a help, especially if your back isn't flexible or very straight.
  
• Consistency is more important than duration. Five minutes a day is much better than an hour, once in a blue moon!
  
• Use some sort of timer, so you won't be looking at your watch or a clock. Do whatever you are doing, until it beeps.
  
• You may experience groovy states, what the experts call nyams. These are not the point or purpose, but neither do you need to recoil from them. They are just thoughts or experiences that arise, like anything else. Enjoy if they are enjoyable, but don't get attached.
  
• If you aren't able to sit cross legged on the floor or on a cushion, don't! Use a chair, or lie down.
  
• Walking meditation is half way between sitting meditation and daily life. It's worth looking in to this as well. I am not a big fan of the style where you sort of micromanage the walk in a slow, exaggerated way; I prefer to walk normally and notice the sensations of movement. But again, whichever works for you.
  
  Know that there is mindfullness-awareness meditation, insight meditation (learn about your internal mental processes), contemplations (ponder a phrase such as 'Life is sudden and ends without warning; this body will be a corpse'), tonglen (sending and receiving, to develop compassion), body scans, and many other practices. Most all of them start with sitting meditation focused on some object (normally the breath, as outlined in the Anapanasati Sutta)
  
  I am not a Buddhist, but I have read a lot of their stuff. If you can sort of skim the tradition without accepting any claims that can't be proven by experience or empiricism, you should be good to go!
  For more secular texts, Buddhism Without Beliefs by Stephen Batchelor, and Coming to Our Senses by Jon Kabatt Zinn. (Don't get WhereEver You Go, There You Are by him as it is too much about theraputic uses of meditation, rather than how to do it per se.) I haven't read the Sam Harris stuff yet, but that might be good as well.
  

I have a couple recommandations:

• Coming to Our Senses, by Jon Kabat-Zinn.
  
  
• Sam Harris although I have not found a book of his which would directly focus on meditation per se.
  
  (This is my first time posting in this subreddit, forgive me if these people are overly obvious, or not what you were looking for).