RINSE beans under cold water and drain.
SOAK beans about 8 hours or overnight. I place my beans in a 6 quart stock pot and cover with cold water to about 2/3 full. If it's warm, you need to refrigerate the beans in order to avoid fermentation. I always refrigerate to be safe.
ALTERNATE QUICK SOAK METHOD: Instead of soaking that pot of beans for 8 hours, you may heat them over high heat until they come to a full boil. Then, boil for 3 minutes, remove from heat, cover, and let them sit for an hour. This method is great for when you forgot to soak the beans overnight, but a slow cooked bean produces the most easily digestible result. Also, when I do this, I often get distracted and end up boiling the water all over the place. I only do this when I have to.
DRAIN AND RINSE soaked beans.
COOK: Place beans in a 6 quart or larger stock pot. I fill with water to about 2/3 full. In order to avoid over boiling, to which I am prone, I heat the beans over medium to medium-low heat (number 4 on my electric stove) with the lid tilted on, and simmer for about an hour or until the beans are at the desired tenderness. Most, however, bring to a boil, lower heat, and simmer for about an hour until cooked. I have never found that the initial boil significantly speeds up cooking time.