http://www.chess.com/computer-workout/
Scroll down to "mating with a rook" and you can do this against the computer over and over until you have your technique down. A rook and king can always mate a lone king. First, use the rook and king to drive the lone king to an edge of the board. Lock him in to the last row of squares with the rook, and then get your king in front of him, taking away the three escape squares, then drop the rook on his row of squares checkmating him. Just watch how the computer does it. Good luck!
How exactly can (or is it even possible) a rook and king checkmate a king? I played against the rook in a game for a long time, eventually my opponent cracked, and I finally claimed the draw. It'd be nice to know so I figure out whether to resign (if I'm the lone king) and how to ensnare the king (if I have the upper hand)