Here is a brief list of resources for wrapping C++ with pybind11:
The best place to start is DMTN-026 Pybind11 wrapping step-by-step. This gives an excellent overview of how we use pybind11 in our stack and what you need to do to wrap a package.
The official pybind11 documentation is also very readable. The provided link points to master. You may wish to look for the version we use, instead.
DMTN-024 pybind11 coding guidelines is also very useful for wrapping in a consistent style.
The presentation Wrapping LSST C++ with pybind11 focuses on what the LSST wrapper code will look like for various kinds of C++ code. It focuses on what the wrapper code should look like for various C++ cases. As such it may be handy as a cheat sheet.