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http://www.sfdc99.com/2013/06/24/example-how-to-write-a-cross-object-soql-query-part-2/
https://developer.salesforce.com/docs/atlas.en-us.soql_sosl.meta/soql_sosl/sforce_api_calls_soql_relationships_query_using.htm
http://blog.jeffdouglas.com/2010/02/22/soql-how-i-query-with-thee-let-me-count-the-ways/
Please dowload the SOQL book from below link :-
https://resources.docs.salesforce.com/sfdc/pdf/salesforce_soql_sosl.pdf
If you know abt SQL then please refer below blog :-
https://developer.salesforce.com/page/From_SQL_to_SOQL
Some more exmple for you
http://www.sfdc99.com/2013/06/07/example-how-to-write-a-simple-soql-query/
http://www.sfdc99.com/2013/06/24/example-how-to-write-a-cross-object-soql-query-part-2/
http://www.salesforcegeneral.com/introduction-to-soql/
Please let us know if this will help you
Thanks
Amit Chaudhary