How do I create a hot water loop?

A great deal of water is wasted in my home while the faucet is on and running while waiting for the hot water to arrive from the wilds of the water heater. I understand that a plumbing loop can be created that allows faster access to the heated water. I just don't know how to go about it, except for the obvious: 1. Diagram the current plumbing system. 2. Make necessary decisions re placement of modifications. 3. Assemble required parts and tools. 4. Get cracking.

Can you direct me to a reliable source of information regarding this project?