Watch the Franklin online guitar lesson by Fareed Haque from Soul Jazz Survival Guide
Notice that there are some nice little additions here. Often the last two beats of Dm I'll add in a ii-V - E7#9 and A7#5. These chord lead back to Dm. Once you're comfortable with just the pentatonics, then and only then start to play over the leading chords, E7#9 and A7#5, using the arpeggios to those chords. it's a great sound, but a bit more challenging. Fill in those 4-5 note arpeggios with the remaining 2-3 notes (use your ear, don't look it up) and now we're solidly in BeBopLandia.