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There are better descriptions elsewhere, but here's the gist of it.
You can turn off guiding output in the brain with the mount motors running and drift align on the guider image.
Al's Reticule would help you get the alignment of the RA and Dec axes relative to the guide camera. (I try to always have the guide x/y aligned with the mount axes since that makes everything simpler.) Then you can iteratively adjust the PA so the guide star stays on one of the axes, and eventually at one spot.
You will probably have to recentre the guider after every PA adjustment. If the drift gets faster, you've gone the wrong way.
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