To make a libertarian society work, the members must willingly, and almost automatically, have respect for each other. This respect will get them to follow the golden rule, do unto others as you would have them do unto you.
However, this respect will also keep them honest enough that they will do justice to those among them who deserve punishment.
The best training manual for a workable, libertarian society is the Bible.

This is assuming that everyone is following the N.A.P - Non-Aggression Principle. Do what you will as long as your hurting anyone else. Imagine if we're all a tribe living together with the same ideals. Then we wouldn't need the bible.
Well, actually, without the Bible, one still needs some guidance to understand what the non-aggression principle is.
The point is the little word "if." It's close to true that, "... if we're all a tribe living together with the same ideals. Then we wouldn't need the bible," for libertarian living. But nobody understands the non-aggression principle well enough to do it right. Non-aggression isn't a simple thing. Anti-non-aggression accidents happen all the time. This is part of the reason we should not live in big cities.
The Bible pretty much is the best guide for non-aggression. Why? Because all the forms of accidental and intentional aggression are dealt with properly, according to the non-aggression principle, in the Bible.
