Here's some articles to help you get started with implementing UDL in your classroom!
Lesson planning with Universal Design for Learning (UDL)
The UDL Guidelines by CAST
Key Questions to Consider When Planning Lessons by CAST
How Universal Design for Learning Can Help with Lesson Planning This Year by Michael Ralph on edutopia
Check out some examples of universal classroom supports as well as essential classroom supports that you could add into your classroom to support all of your students as well as those who require more directed support.