Extended Abstract: A long-ago OOPSLA extended abstract on GLORP. May be useful to help you decide if this is what you're looking for.
Getting Started: How to download, install and test the GLORP framework
Roger Whitney developed a tutorial on using Glorp in VisualWorks for his class at San Diego State University. The tutorial is on-line at http://www.eli.sdsu.edu:/SmalltalkDocs/GlorpTutorial/.pdf
GlorpUserGuide.pdf by Nevin Pratt: An introduction to GLORP, unfortunately it only covers very basic access to the database and not the powerful mapping capabilities.
FAQs: A (hopefully) ever growing list of short how-to snippets. How to get started