Imagine your right hand represents the shape of a molecule. Now your left hand consists of exactly the same components, placed in the same order across the hand, yet you cannot superimpose your left hand over your right hand as they're arranged differently in 3D space (try putting a left hand glove on your right hand!).
Now if a carbon atom has 4 different groups attached to it, it can be arranged in either a 'right handed' orientation, or a 'left handed' orientation which cannot be superimposed over each other in a 3D representation (referred to as optical isomers). As receptors in the body, enzymes etc are all made up from amino acids of a particular 'handedness', they respond to one optical isomer much more than the other, as the site of interaction is also a 3D structure.
d & l assignations generally refer to the direction in which they rotate a beam of polarized light when shone through a solution of the optical isomer. R & S configuration refer to the absolute configuration of the molecule as laid out in the IUPAC rules (it involves determining whether the order of size, when seen along the axis of one of the substituent bonds to the carbon atom is in a clockwise or anticlockwise direction).
As to the actual rules, I've never been able to reel them of the top of my head, so you'd need to look at a book/website about determining absolute configuration