Murāqabah (Arabic: "to observe") is Sufi meditation. Through murāqbah a person watches over their (spiritual) heart and gains insight into the heart's relation with its creator and its own surroundings. Murqābah is a core concept in commonly found ṭarīqas (Arabic: "Sufi orders").
Thank you for your question. Practical irfan is a complex area and each person depending on their constitution and the specific path that they are to embark on, have a program that is suitable for them.
As such the closes thing to step by step guides are generally concerned with what a person may experience in terms of states as they progress, rather than guiding people as to how to practice at those stages. Some well known books are Manazil al-Sa'irin of Khwaja Abd Allah Ansari and Risala fi sayr wa suluk of Mehdi Bahrilulum. But like i said generally these books are not written in what would be expected in a step by step guide book.
It is usually recommended that a person begins their journey by performing the obligatory acts and refraining from forbidden ones, improving their akhlaq and following the general practices of spirituality, such as praying salat al-layl, fasting mustahab fasts, practicing a level of mubasiba and muraqaba and paying attention to the important times of year, while supplicating for a spiritual guide to take you on the path of irfan, as a certain level of expertise and experience is needed to safely walk that path.
May you always be successful