Watch the Voice Leading online guitar lesson by Sheryl Bailey from Bebop Dojo: Essentials
Voice-leading means what it sounds like - connecting the voices of the chords in stepwise motion, or in the smoothest motion possible. This avoids awkward leaps and makes your lines smooth and flowing. You need to know your arpeggios in and out so that you can be seeing and hearing ahead into the upcoming chord change. Chords are moving objects!