Barbecue University®
It will answer your questions. Yes, there is a recipe at the end of it, but the recipe has the basic technique down cold and you'll learn some good things along the way.
You literally put it on the hot grill and leave it for half the cooking time and fliip it once. If you want the pretty grill marks you give it a quarter turn at the 1/4 time mark. So that would be on the grill for 3-4 minutes. Give it a quarter turn (right angle to its original position so you get the cross hatch grill marks). Leave it another 3-4 minutes. Flip it, repeat.
If your grill isn't as hot and you need more time to reach your desired temp, take the time you need.
The poke test is worth learning and try to learn it with tongs too.
Phil