Raise the back of your tongue to touch the soft palate. Add vocal cord vibration, then release.

Americans pronounce glad as GLAD (/glæd/). You'll hear it in sentences like "I'm glad you were able to make it" or "He was glad to receive the good news" — more examples below.
Record yourself saying "glad" and play it back. The mic stays on your device — nothing's uploaded.
1 syllable, 4 sounds. Explore each sound's mouth shape and how it's made.
Raise the back of your tongue to touch the soft palate. Add vocal cord vibration, then release.

Place the tip of your tongue against the alveolar ridge just behind your top front teeth, the same contact point as /t/, /d/, and /n/. The difference is what happens to the air: for /l/, you let it flow continuously around the <em>sides</em> of the tongue (that's why /l/ is called a lateral). Turn your voice on the whole time. Lips stay relaxed, no rounding or flaring. For the Dark L variant at the end of a syllable, also pull the back of the tongue up and back toward the soft palate.

Drop the jaw noticeably. Keep the body of the tongue low and forward, and don't let the back of the tongue raise toward the soft palate. Pull the lip corners back slightly, almost a starting smile.

Touch the tip of your tongue to the roof of your mouth just behind your teeth. Add vocal cord vibration as you release.

The textbook way isn't wrong — it's just not how anyone actually says it.
In "glad", the "d" is not released — the articulators get into position but hold without the burst of air. Air stops but there's no release burst — the articulators hold position.