http://drdansiegel.com/resources/wheel_of_awareness/

The Wheel of Awareness III will take about 20 minutes. It's not a relaxation exercise, but a mind exercise.  Dr. Siegel states that practicing this strengthens our capacity for relationships, among other benefits.

Also, here are some audio clip links on his site.
http://drdansiegel.com/about/audio_video_clips/