Watch the Minor Modes Including The 6th online guitar lesson by Jason Loughlin from Blues Connections: Minor
Now that we know where the 6th is, we can incorporate it into the five modes of the minor pentatonic. Be sure to say the scale degree numbers out loud. Do this in A minor, D minor, and E minor. Once you have the modes in your hands, you can begin voice leading the scales over a 12-bar blues. Same concepts and drills as used in the voice leading section apply here too.