Hello my friend.
I think that a good point to start it is with the book "Contiunuous Delivery" from Jez Humble and David Farley. On Part II of the book it is about pipelines, with a good theory. You should are confident with the key concepts, before start with pratice. About pratice, there is a lot of tutorials of tools that can help you if google it.
I hope this tip can help you!
Regards.