If you're looking for a book on grafting, there is "The
Art of Grafting and Budding" which is available for free as a Google ebook. A better resource, in my opinion, would be the numerous videos on YouTube. A guy by the name of Stephan Hayes has a small orchard in England and has put up numerous videos on grafting (Just search: stephan hayes grafting) that I would recommend.
Before you try grafting onto rootstock, just be sure to spend an hour or two practicing your cuts and wrapping on branches that are headed to the rubbish pile.