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Learn how to get a basic application up and running with a simple domain model and dynamic scaffolding. This screencast shows you how to create a TODO-style application from scratch.
This book, freely downloadable as a PDF, gives you a thorough grounding in Grails. It's based on Grails 1.2 but much of it is still applicable.
Learn how to use Grails from first principles, starting with some background on the framework and how to install it on various operating systems. The course then takes you through the process of developing a sample project tracker application.