The important thing to remember is that the only difference between the scales is that the Dorian mode adds a Major 2nd and a Major 6th to the Minor Pentatonic scale. The examples below will help you combine the vocabulary you already have with this new sound.
In our next lesson I will have a transcription of a solo using the Dorian Mode/Minor Pentatonic combination that I played on a live recording of the song "December" by my band "Felt". This is from a gig we played in a mall, of all places...not the greatest quality but I think we'll get some good vocabulary from the solo. Check it out here: