To help in this many have found useful the monthly worship guide Magnificat. The daily meditations for each day, as well as the brief biographies of saints not found in the ordinary cycle of commemorations are the source of inspiration.
In addition to the Mass the Church's official liturgy is constituted by the Liturgy of the Hours. For me a privileged place in the Liturgy of the Hours is taken by the Office of Readings, which besides the usual psalms and prayers contains passages from Sacred Scripture and the Writings of the Fathers of the Church (and other holy men and women.) Taken together with the readings from the Mass these form a rich tradition of revealed truth and proven holiness.
Lastly, let me mention another book that is more related to piety and the basic teaching of the Church. That is the Handbook of Prayers edited by Rev. James Socias.
The liturgy is the best way to become immersed in God and the history of His Love for the creature he made in His image and likeness.