I had never prayed the rosary before (but had used prayer beads for the Jesus Prayer) when I inherited my late grandmother's rosary. On the 8-hour drive home a couple days after her funeral, I drove by a Catholic bookstore and decided to check it out.
I found this booklet on how to pray the rosary and it is amazing. I use it to pray with my grandma's rosary.
In particular, it has several additional ways to add contemplation to your rosary prayers. It has a short meditation and a long meditation for each mystery, it has a scripture-reading contemplation for each mystery, and (my personal favorite) a way of praying the rosary with a particular brief meditation of some aspect of each mystery following each Hail Mary of that decade. I find this last one really helps take me deeper into the particular mystery.
You can incorporate these added contemplative options into your practice as you see fit. The book just gives you some options to use as you see fit. Also, it is very much pocket sized so you can take it anywhere, keep it in a desk, bedside table, small pocket of a bag, etc.