For starters, I think tls will even agree with me, start with a good 60/40 rosin core solder, heat both parts till the solder starts to wick into the parts being joined... thats about all there is too it.
One note is that with some insulated wires the insulation will tend to shrink back under the heat, so if the insulation on the wire is rather soft and rubbery, don't strip the insulation too far back. Grab the wire with a pliers and pull the insulation back till it tries to spring back, this way, when it warms up, it will spring back into position rather than melting back away from connection... making the connection much cleaner, even if wrapping with shrink wrap.