Which router and which firewall are you using? Cisco has some <a href=”http://www.cisco.com/en/US/products/sw/secursw/ps1018/products_tech_note09186a00800a5b9a.shtml”>good documentation</a>. A great way to get hands-on experience is to take a class through your local college’s continuing education program or via a specialized training vendor. Depending on your model #s and specific needs here’s <a href=”http://www.amazon.com/Cisco-Networking-Dummies-Second/dp/076451668X”>another good resource</a>.
I teach basic access-list configuration right out of the ICND2 (Interconnecting Cisco Network Devices 2) book from Cisco Press. It is a good basic resource. Combined with the a search on “access-list” on the Cisco website it should help.
brent mossberger, CCSI