Full text of Day and Night prayer as PDFs:

Night Prayer: From the Liturgy of the Hours is available from the U.S. Conference of Catholic Bishops for $4.95. The volume, drawn from the Liturgy of the Hours, offers the last prayer of the day, from Monday to Sunday, together with hymns and psalmody, Scripture readings and Gospel canticles.
Visit http://www.usccbpublishing.org/productdetails.cfm?sku=5-148 to order.

Instructional materials from the Federation of Diocesan Liturgical Commissions:

Hear a recording of Vespers:

Hear a recording of Compline: