Look no further than here:
http://gknot.doom9.org
There's no need for me/anyone to write out a guide because there are extremely simple and detailed guides created by doom9 there. Very simple stuff.
However, if you not that bothered at getting absolute best quality and would prefer the computer to do almost everything, there's only one other option:
http://www.autogk.net/
This is an even simpler version of autoknot.
Really is very simple, install them, then follow the steps! Make sure you deinterlace if your source is interlaced, and that you crop the black boarders off (completely).