Beside the guide given above which helped me alot to get the big picture of the whole history of salvation and the mystery of life, there is an other thing I found useful specially for detailed understanding of small texts like a verses, or single chapters: Praying the Office.
On my cell phone I can access office prayers for morning, afternoon, and evening. I am not disciplined enough to make it everytime. But whenever I have time, and in good mood, or bored, I pool it out and do the prayers and reading, it is amazing.
Basically, for every time, you get a special combination of biblical text which somehow explains each other. By reading them, you get one message out of them. But that is not all. They add a church father treatise or homily about the same message being transmitted. So things become even more clearer.
I find it a great way of reading the Bible daily and in an organized manner, with the whole church and prayfully. And many people around the globe, specially consacrated people are praying and reading those same readings every day. I think it is even a way more wonderful experience for families who read it together. So many times I wish I was reading it together with someone so we can comments and meditate together. It is just very inspiring and exciting in a sens that it makes you want to share what you are receiving with someone.
You can also get them on your computer or order the whole book. See all info on this site: www.universalis.com
Everything is free except downloading the whole book on your computer, or getting it physically.