This is a tuturial I wanted to go over since I had the same question as you a while back.

http://msdn.microsoft.com/en-us/data/gg699321

However, I ended up using Enterprise Library (so easy to work with sprocs!) and created my own mappers, which basically just was static methods that take in a dataset (from Ent.Lib) and manually map it to an instance of a domain model.