I just tried this for the first time myself, and it went wonderfully! You do need to start with a breed that has a reputation for good mothering, however. I used a four year old New Hampshire Red hen that has always had a great temperament.
First, I let a couple of her own eggs build up in her nesting area. Then I got some wooden eggs from the craft store, and stared replacing the egg she laid each day with one of the wooden ones. She didn't pay much attention to them for the first week or so, but slowly began to sit there for longer and longer periods. After about 10 days or so, she planted herself on that nest and was there to stay! Then I slipped fertilized eggs under her, and 21 days later the little fluffballs were running around!
I don't have a rooster, but I imagine a broody hen wouldn't want a rooster bugging her - you may need to do something about that...
Amy