I am not sure if there is a how to on how to do this, but hopefully this will help some people out.
I used Kerosene, chain lube, a chain brush, an empty cup, and a trash bag. You do not need the brush but it makes it easier, and you also do not need the trash bag.
You will need to dump some of the Kerosene into the empty cup so you can dip the chain brush into it, and place the trash bug under your rear sprocket to catch any Kerosene that comes off.
Dip the brush into the Kerosene and start rotating the back wheel. (Do not attempt to start the bike and do this, it is not a good choice) Dip the brush back into the Kerosene occasionally. When you are satisfied with the chain you can grab your chain lube.
Spay the chain with lube while rotating the tire. Once you have the chain completely lubed you are done.
You chain has now been cleaned and lubed.
I also clean my wheel after I am done. Let me know if I left anything out.