I think rather than finding a well "tied in" series of books, you are more likely to just find a confusing mess. Personally I found the best way to handle the EU was to check out the abridged audio books from the library (or through inter-library loan). This way you get the gist of what is going on without having to read the whole book, if the book turns out to be pretty interesting or enjoyable, stop the tape, return it to the library and check out the book. If the book turns out to suck, suffer through all four tapes (if you are that determined), then return it and check out the next one.

There are many SW timelines available online that have been put together by fans. They will usually list all the books, comic books, and revelvant video games, as well as the movies of course. Usually the reverse side of the front cover of most Star Wars books contain a mini time line listing where that particular book fits into the time line and what books come before and after. At least the older books did, I wouldn't be surprised if the new ones don't due to the vast amount of SW books published these days. Your best bet is too search google.com for "Star Wars Expanded Universe timeline" or something to that effect (maybe if that doesn't work try searching "star wars book timeline").