This Introduction to Concept Mapping by Robbert Hubbard gives clear-cut instructions to getting started. You may want to follow along with making notes in a mapping practice. Bounded Rationality? Rick explains that in the video.
A great learning tutorial is available at http://learn.cmappers.net/
The book that covers this mapping process in great detail: Applied Concept Mapping: Capturing, Analyzing, and Organizing Knowledge.
Lean Sales and Marketing: Learn about using CAP-Do