Personally, there are no books that I have read that include decent instruction on tarping.
Start with this:
Do you want a shaped tarp like a Hex3 or a Gatewood cap or a catenary cut tarp? Or do you want a flat tarp? If flat, a rectangle or a square?
I suggest going to Home Depot and buying some 3 mil plastic. Cut out a 5×8 tarp(you will use a larger tarp while camping, but it is easier to learn on a small tarp). Use a Sheet bend to tie 3 foot pieces of cord to each corner, then hem the middel of the short side of hte tarp wiht a 3 inch piece of ducttape. Take another 3 inch piece and place longitudinally over that hem. Do this in the on the middle of every side. Cut two 7 foot pieces of cord. Tie a bowline loop right next plastic on each corner guyline as well as on the end of hte cord. Now you are ready.
Get a couple stakes
Begin by staking out a long side of the tarp with the loops closest to the plastic. Make sure the plastic is streched tightly. Tie one of hte long guylines to the middle of hte opposing long side. Take a 4 foot long stick or a trekking pole turned upside down and wrap this guyline around it several times. Stake this line out. You now have a triangle of tightly pictched fabric running from one long side on the ground up in the air to one pole. Stake the remaining corners to the ground and you are done with teh pyramid pitch.


Start with this pitch, and then look at pics of other pitches and see if you can figure them out. Just remember, you need a tarp about 8 x 10 unless you want to use a bivy sack with the tarp.