Self-teaching classical guitar with prior musical experience

I've been thinking of learning technique for classical guitar in the last few months as a hobby, and have grown to love its sound in recent years. My grandfather taught me bluegrass guitar when I was a kid, and I have inherited his Martin DH-35 - a beautiful-sounding guitar, but not fitting for classical. I also played upright bass and electric bass in high school jazz band but haven't played since graduating years ago. I already have a fair bit of experience, but I know classical technique is different, especially due to the shape of the neck and the nylon strings. Thankfully I bought a classical guitar off a friend (certainly a beginner guitar, but something simple to learn on).

Would anyone suggest a book for learning given my experience? Thanks to all who reply.