Here is an introduction to Waldorf for new homeschoolers…
This article describes the Waldorf approach and as it relates to the developing child and so the philosophy describes the approach with different age groups. The author of the article also has a website with Waldorf resources. http://www.christopherushomeschool.org/
Live Education! produces homeschooling supplies for families and institutions inspired by a Waldorf perspective. It has curriculum pages for grades K-8 where you can view a sample lesson. You can purchase an entire grade of the curriculum from them. there is also a news page as well as a list of workshops around the country and online newsletter you can view online.
Oak Meadow provides curriculum for homeschoolers. The website has information on Oak Meadow, its schools, history and philosophy. There are similarities to Waldorf education including a deep understanding of the developing child.