The ultimate for Buddhist Dharma is to tame the Citta (Mind/Heart), once it's done, one is free from suffering. The 5 Precepts are not just for the lay people, but for any citizen to live an ethical life. It is the basic for any Buddhist, and the righteous.
The discourses, many are addressing the monks (Bhikkus), yet the audiences, in many of the sermons, including all followers, from rulers, noblemen, citizens and different classes. (Usually it's set in certain open place, no lighting effect or stage setup necessary for the Buddha himself is illuminating, the Celestial Beings raining the flowers and jewels, filled the atmosphere with fragrance and radiance {sometimes this kind of phenomena could still be seen in some sacred mountains, the colour-tinted clouds in shape of lotus petals, rainbow-halo of the sun... etc.}, and of course no entrance fee charged ;). Apart from those human eyes can see, there are Bodhisattvas, the Nagas and their Eight Leagues of Might, the Non-human Beings... etc. And of course if you by any chance read the Sutra, the audience included you then, read as if you are in the sermon, or among the monks. While the monks are with their particular customs - the Kāṣāya, but putting on the robe doesn't necessarily make one the true monk, nor a lay people without the robe deemed unable to understand the teaching.
There are many discourses delivered to the monks in daily living together with the Buddha, most are recorded in the Agama Sutras. Those teachings about what so termed "mindfulness meditation" could be learnt as much as one is able to. However, to a certain stage, the White Skeleton Meditation is to be cautioned, not only this was recorded in the Sutra certain monks took their lives when so absorbed in getting disgusted with the body, also it would weaken the body; meditation on nourishing and right way of eating to replenish is required. Yet it would be a miracle if anyone get to the depth of the White Skeleton Meditation without the right teacher or his own right understanding, thus this is really like, it wouldn't happen or if it happened the solution is also produced. Thus the Buddha let all these be written down openly, anyone has the wisdom and merit(功德), anyone is deemed to have the Great Cause across eons of Kalpas to arrive at it.
One the other hand one could read the intellectual part of the Dharma. This part is so rich and splendid, over thousands of years, books, treatises, theses are littering and piled up like Himalaya. One is easily got lost but emptied the whole life never really get to the skin of it. Thus one should read right Sutras. Reading the Sutra is the most guaranteed way to receive authentic teachings, and of course the Sutra must be well written, able to transmit the Buddha's teachings, likewise, authentically.