for your warmup sets rest about a minute between each, then your working sets around 2-3 minutes between each. if you feel you arent recovered from the previous set then take longer. although consdiering you havent lifted b4 as long as you build the weight up gradually towards your 5 rep max over a few workouts then 2-3 mins will be adequate rest.
Might be worth buying the book. the videos can be found online for free they are on this site