I checked out different recipes online here and here.
It really isn't hard. I made a quart. I used 4 cups of regular milk and 1/4 cup of plain yogurt for my starter. I heated the milk to 180 degrees and then let it cool to 115 degrees. I then poured a cup of the milk into a sterilized coffee cup and mixed in the 1/4 cup of yogurt and then stirred the mixture back into the pan with the rest of the milk. Mixed it and then poured it into my sterilized glass jar. After putting the lid on, I wrapped the jar in a towel and placed it in the oven (turned off, of course) and let it sit for 6 hours.
I like mine with a swirl of organic honey!