Watch the Voice Leading online guitar lesson by Sheryl Bailey from Bebop Dojo: Essentials
Here is an example of voice-leading along with the rhythm track. I start moving consecutively through the chord tones, then begin to break up the arpeggio within the measure, always being sure to voice-lead into the nearest chord tone on the "and of 4" into beat one, make the transition to the next chord smooth and connected. I would recommend writing out some of these studies to also train your mind to think this way. ** For the faster jam track, see the next video, "The Swing Feel".