Teaching Children to Care by Ruth Sidney Charney really is an excellent book, since that's what you've asked for. It's geared to elementary-middle school children but most of the principles would apply to older kids as well. Great advice above- I would sum it up with:
Be friendly but firm
Be clear with what your expectations are.
Be consistent with consequences when you are challenged.
Be frequent with praise, but make it real- not for every little thing, but "catch 'em doing good" often enough so they know you've noticed!

Over time you'll gain their trust and respect. They might even like you! But don't go into it trying to make them like you or they'll walk all over you.

Oh- and know your subject, and admit it when you flub up (you will!). Laugh at yourself, not at them.

Upper grade teachers are my heros- I love my under-12s and wouldn't have it any other way!