I use a program from http://www.50pullups.com/
They have programs based on current ability, right from 0 pullups to more than 40 pullups. Each program takes two weeks, after which you do a new test and either advance to the next program or go back and start over on your current program.
I started two months ago a bit over my level at the program for people who can currently do 6-8 pullups. Probably not very wise, but in the programs below that I would have to only do negatives which I was too proud to accept.
In the last session of my first two week round, I was supposed to do 5 sets with 4, 5, 4, 4 and 6 pullups. I only managed 4, 4, 2, 1 and 1 pullups. And I was resting on the floor between each pullup for a second or two.
Today, I did the last session of my current two week round. Still at the same 6-8 program, and still supposed to do 4, 5, 4, 4 and 6 pullups. I managed 4, 5, 4, 4 and 5. And in each set, I was fully hanging from the bar without resting on the floor between each pullup.
I have no idea how optimal these training programs are, compared to others. But they seem to work for me, albeit slowly. I could probably have had even faster progress if I had thrown away my proudness and started with one of the lower programs, doing negatives. Anyway, at an age of 51, without ever doing pullups earlier in my life, I am pretty satisfied.