Search Inside Yourself. It's written for engineers and other practical-minded folks. Terrific!
I've been reading this book recently. Only about halfway through, but it's definitely a good intro to mindfulness, if anyone is interested.
Kind of written more as an 'engineer' book than a 'self help' book if that makes sense at all, that's what drove me to it (As in, explaining how this effects your mind, as opposed to the image of "hocus pocus and mysticism" that some people might have).