Hearing experienced teachers talk about their practice is an excellent way to appreciate what this is all about. There are now a wealth of good talks available on the web. In fact there are so many, that it is hard to narrow down to just a few.
Talks from Forest Sangha monastics (Amaravati is a Forest Sangha site) are always worth listening to.
Try Birken or
For something with a contemporary 'new Buddhism' edge try: