When improvising, try the pentatonic version (just the white notes) first. Add the remaining dark notes when you feel comfortable.
To play in any given key, find the root of the scale (the note you wish to start on) on the E string (for G form, E form, and D form) or A string (for C form and A form) and place your hand so the 1 in the scaleform is on the root of the key.
For example, to play in A, using the G form: Find A on the low E string. It's at the fifth fret. Place your hand so that your fourth finger is on the A. Look at the G form scale. Your fourth finger is now on the 1. You can reach 2 with your first finger, 3 with your third finger . . . etc.
More on the CAGED system at the following link:
Click the lessons button and choose "The CAGED System".
NOTE! To use as a natural minor scale, treat the 6 degree of the scale as the root.
More on how to find the modes in these same diagrams later.
The scale forms are named after the open postion chord forms that they grew out of.
If you look at the warm-up page, you will realize that you can practice the same ascending and descending warm-up patterns in all five of the basic scaleforms.
For a diagram of lead Pattern 1, right-click Lead Pattern 1 and open in new window.
Here are some excellent books on the subject
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Copyright 1999 Randolph J. Sadewater