Yes, it can be learned from books.
Many books on Meditation available, one very good is, PRATHAM SE AANTIM MUKTI, By Osho. Another On Vipassana also available.
But its always better to look for Guru or Guide because one faces many difficultes during various times.
Meditation techniques are also available on U tube.
there is an app, Lets Meditate, You can download it from, Google Play store, By this app you can come into contact with Yoga teacher.