I also enjoyed "Catamaran Sailing: From Start to Finish" as it was geared towards the novice sailor.
Righting a cat isn't too complicated.
Step 1- capsize, fall into the water, and uncleat the sails
Step 2- sit on the bow until it swings into the wind (you might have to swim it into the wind occasionally)
Step 3- Take the righting line (which is normally attached to the base of the mast, though H14 and H16 may have a different style) and throw it over the upper hull.
Step 4- swim around and climb onto the lower hull, then grab the righting line.
Step 5- with your feet
on the keel of the hull, lean your body away from the boat, using the righting line to balance you. Your body should almost be touching the water.
Step 6- when the boat comes over enough to start falling towards you, let go of the righting line and swim between the hulls.
Step 7- climb back on the boat and repeat Step 1.