I don't have a guide, but I can provide some commands:
### CONFIGURE YOUR TACACS SERVERS
aaa authentication-server tacacs "TACACS-SERVER-A"
host 10.10.10.10
key XXXXXX
### PUT YOUR TACACS SERVERS INTO A SERVER GROUP
aaa server-group "TACACS-SVR-GROUP"
auth-server TACACS-SERVER-A
auth-server TACACS-SERVER-B
### ENABLE TACACS FOR MGMT ACCESS AUTHENTICATION
aaa authentication mgmt
server-group "TACACS-SVR-GROUP"
default-role "no-access"
enable
### ENABLE TACACS ACCOUNTING
aaa tacacs-accounting server-group TACACS-SVR-GROUP mode enable command configuration
(options for command are: action, all, configuration, show)