Totally recommend the Guide to Lesbian Conception, referenced above. We inseminated at home and that book was very helpful.
We used frozen sperm - shipped to our home, no medical professionals, no medication, etc.
It took 5 attempts the first time - we were on our 3rd donor by the 5th attempt.
It worked on the first attempt the second time - honestly, I feel a big part of this (beyond good timing, statistics, good sperm, etc.) is just KNOWING your body. It takes some dedication to take your temp at the same time every day for months, and to track all the things that can be tracked. But if it's going to work for you, I think that dedication pays off. I really got to know my body/cycle and trusted what I felt was happening - I totally credit that with our first successful attempt for baby #2.