Susan Garrett's dvd above mentioned Susan Salo and also Greg Derrett (something about circle work? haven't checked that out yet).
The 'circle work' is from Greg Derrett's foundation DVD. It is basically having the dog run beside you while you run circles and then figure 8's. You start off slow, at walking or a slow jog, then you increase the speed as the dog understands what it is you want from him/her. You then add front crosses and post turns while running. This is all done on the flat. Basically, it teaches the dog to follow you and your body language.
). He gives you great drills to practice FC, RC etc and explains exactly why he would do a FC at a certain place vs another etc. I think it is good no matter what system you teach. I did not teach my dogs the RC the way he says in the first DVD, nor do my dogs know left and right, and still I can do what he shows in this second DVD. It was worth the money I spent. It also comes with a little book with all the grids for you.