I read the comment about the "skip it" advice. I guess it applies to some people, but not all.
There is another book, the RESTful Web Services Cookbook: Solutions for Improving Scalability and Simplicity (RESTful Web Services Cookbook: Solutions for Improving Scalability and Simplicity) is an excellent book for the ones looking for quick recipes like the authentication. But that is a reference book, not a walk-through one.
If you like a book that walks through implementation of a simple REST service, discussing all the detail, pros, cons, going from an immature implementation to a more robust one, adding complexity, transactions, security and such, REST in Practice is the book. As the title implies, it is not a theoretic discussion, but a hands on explanation. It is a very small service, the book will not show a full blown, enterprise level system, as that is not the goal. It works on the tactical and implementation level. The code will not be usable for your own system in full, but the reader will certainly find some very good explanations and answers to general questions.
There is of course the need of an architectural level book about REST. This is not it. Hope O'Reilly will support one soon.