DMZ Setup with two firewalls - Traffic from DMZ to LAN and LAN to DMZ

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http://serverfault.com – I am setting up a network with machines that need to be accessible from the internet. I'm planning on putting these in a DMZ. Some of the machines in the DMZ need access to machines on the private network and machines on the private network need access to machines in the DMZ. I have read that the most secure implementation is one with two firewalls. The two firewalls that I am planning on using are both CISCO ASA 5500. Although I am interested in how I can implement this with those specific devices, I am also interested in the theoretical side because I am creating documentation for customer (HowTos)