There's a great book by Culadasa: The mind illuminated. It covers a lot of what ancient meditators thought about the practice, but the essentials can be found in the first chapter.
Second this. He is a professor for neuroscience and meditation teacher for decades. Breaks it down into 10 steps, in plain english. A must, if you are into meditation, IMHO.
That sounds like he molested someone, which he did not. He had a secret relationship with a prostitute, who he treated well, helped her with rent, even got her a flat IIRC. He was unfaithful to his wife, if you believe in monogamy. Many species of birds believed to be monogamous are not on close inspection. Both human sexes want to have sex with other people, besides their primary partner more often than we think. To suppress these desires leads to resentment and other problems i think.
