Nobody here mentioned Jobst Brandt's book on bicycle wheel building which is short, to the point, and has illustrations to walk a beginner through lacing up and truing wheels. Mr. Brandt was quite a smart guy, some sort of engineer and used computer analysis and includes some math to show the science of wheels and to figure out spoke length etc..
I have laced up a lot of wheels, I began with motorcycle wheels as my father was a dealer for British motorbikes in the 50s and early 60s and he brainwashed me into liking them a lot. For bicycles I have done a lot of swapping 700c rims onto the hubs of bikes which originally had 27" rims to improve tire selection, have put coaster hubs into 700c rims to make single-speed road bikes. I don't have any fancy tools, I just put the wheels together on my lap and put them on the bike and stand it upside-down on it's seat and bars and true them up by eye first, and sometimes get a dial-indicator onto the side and outside of the rim if I want to get it extra round and true.