I have been storing foods since before y2k - and learned by asking same questions, reading, trial-and-error, etc. I have arrived at a very basic and simple procedure that works fairly well for most items. your procedures may differ depending on your needs ( quantity, available storage space, number of people you are preparing for, etc)
1. Acquire some good storage pails. I collaborated with three other families and was able to purchase a quantity of white 6 gallon pales with gasketed lids that snap on nice and tight. We were able to purchase a complete pallet of these from me local company and get a reasonable discount. we had some laughs when we went down to pick it all up - the guy asked me what business I was in and I told him we decided to stock up on some food - he just scratched his head and said that 'I am more than happy to sell you the pales but I do not think you will need them' ( speaking of Y2K) - well it turns out he was right about that, but it looks like they could come in handy now nearly 10 years later.
one thing about plastic pails we quickly discovered is that on certain foods, they will impart a distinct plastic smell. Certain soft grains like soft white wheat really absorbed the smell - also powdered milk, sugar, etc. the food was still usable but had a slight smell to it even after it was used in baking. It bothered me so I got rid of those items and decided to try mylar bags. The hard red winter wheat was just fine as were most of the beans.
2. Get mylar bags - you will not regret getting a supply of mylar bags. They will keep your food dry and odor-free :-).
3. Optional - Pack it all in nitrogen. With the oxygen out of the way, the food lasts a lot longer. I was able to obtain a large cylinder of bottled nitrogen - I got set up with a regulator had a short hose, and whenever I pack food into the pail, I will put in a mylar bag, and as I am placing the food ( usually pouring it out of a bag) into the bucket, I will place the hose into the bottom of the bucket and let nitrogen flow into the pail. It is heavier than air and will fill it like water. Of course it's invisible so it's hard to be extremely precise. Anyway, once I fill the material, I will run some additional nitrogen in to make sure it is topped off and then seal it with the lid. There are ways to test to make sure you have done a good job with the nitrogen packing - a simple one is to light a match and slowly lower it into your bucket - it should extinguish when it hits the nitrogen. I am not too concerned about being 100% about it though - I usually toss in an oxygen absorber or two - and since I rotate to the food it just isn't a problem. I still have food from 10 years ago that was nitrogen packed and is perfectly fine.
4. Setup a storage system that will allow you to easily get to the food. It seems that the easier it is to actually get to a specific bucket of food - the more likely it is that it will be used. If I have 25 pounds of split peas, but it is stacked behind 200 pounds of wheat - somehow it just never gets used.:-) also make sure that it is able to be reached by others in the family - and well labeled. Be sure to put enough information on the label so you know when it was packed and what's inside.
Anyway, 5-10 years is not a problem For the dry grains - they would probably last 100 years and still have food value.. certain foods however are simply more challenging. Brown rice for instance will go rancid fairly quickly - freezing it will help - and the nitrogen will help as well.
We also bought an amount of canned goods at the time - after five years, there were certain cans I was afraid to open - I am talking about canned vegetables, soup, etc that we bought at the grocery store. Some was fine, but after that long we were wondering whether the food had any real value to it after sitting in the cans along.
(I did not do a good job of rotating some of that stock)..
anyway, it is a practice that takes a getting used to - but once you have the supplies and a routine to use your materials - it is not a big deal.
Good luck! Glad to hear others are getting into this as well