XBee Tutorial

Does anyone know of a good tutorial for the xbee s2 and arduino? I can only seem to find ones for xbee s2, or xbee s1 with arduino. I'm trying to find a way to used the xbee to send commands from my computer to an arduino biped I have but can't seem to figure out the sending/reading commands part.

Rob Faludi's book, Building Wireless Sensor Networks is a good introduction.

I wrote a blog post a while back that may help you get started.