I have written this guide aimed specifically for ID-TEN-T users
http://www.brennan.id.au/06-Firewall_Concepts.html
It covers masquerading, SNAT, DNAT, and basic filtering concepts, there is also an example firewall script to get you started.
Yes I know it another RTFM
but you should be able to follow it as Ive tried to keep it simple.
You should also find the other chapters useful if your lacking in Linux.
Cheers,
Miles.
Edit: The example script has some DNAT rules in it, they just need to be uncommented to use them.