L.,
I used the book "Toilet Training in less than a Day" with all four of mine and had a good experience. You can get the book on Amazon.com or on eBay. My kids were between 23-27 months when I potty trained them. My personal experience was the earlier, the better.
Although the popular advice now is not to potty train, but to wait until they decide they want to do it on their own (age 3-5,) my personal experience is that they are capable much younger than that (18 mo - 2 1/2.) My experience with my four was that there was a window when they were little where they were open to it and capable, but that window eventually closes and they become very stubborn about it. That's when it becomes a big power struggle.
Some kids will decide to potty train all on their own and some won't. If you think about it, the only reason anyone is potty trained is because of hygiene and social acceptability. If we keep kids in diapers indefinitely and tell them they can wear them as long as they want, where's the motivation to ever change? Pediatricians are telling parents to let the kids do it on their own because they don't want their phone lines and exam rooms tied up with parents who are frustrated with the power struggles over the issue.
Regardless of when you choose to potty train, there are lots of things you can teach him now that will make it easier when you do potty train. Teach him concepts like wet and dry, up and down, dirty and clean. Have him start to take personal responsiblility for his cleanliness - if he spills, show him where the towels are and how to clean it up. Have him put his own dirty clothes in the laundry basket, his own dirty dishes to the kitchen counter and his own diapers in the trash. Teach him to get you diapers, wipes, clothes, PJs, shoes, etc. Teach him to dress and undress himself, especially pants.
One thing I did with my last child that I wished I would have done with all of them: right after dinner, starting when my daughter was about 15 months old, I put her on the potty naked while I ran a bath for her. The combo of having just eaten and watching the water run was enough to make her pee about half the time. It didn't matter that she wasn't potty trained, just that she learned to be comfortable sitting there and had experience getting pee in the toilet. It speeded up the whole process when I did potty train her at 23 months.
Good luck,
S.