I keep them in plastic Gladware containers with holes poked through the lids and use coconut fiber as the base. It's the stuff you find in the reptile section at the pet store. Coconut fiber works well because it doesn't turn acidic quickly and it's cleaner than soil. You keep the fiber damp but not soaking wet. If it's too wet the worms will climb out but not out of the container - if that happens just add more fiber and they'll go back down. You need to use dechlorinated water - works best in a squirt bottle.
I use a flat piece of plastic that fits inside the container to harvest. Spray water on one side of the plastic and sprinkle on some food. I use fish flakes but some people use baby cereal. Set the plastic food side down on top of the medium. In a few hours the food will be gone but the plastic will be covered with worms. I use my finger to scoop them off and drop them in the tank.
Grindal worms do best at room temperature. They also like dark. I keep mine in a drawer in my kitchen. They do not smell and if you use coconut fiber they're not messy.
It's good to split your culture every few months - that's what I just did. That way you can add new coconut fiber to prevent the cultures from turning acidic and crashing. Also, I recommend keeping two separate cultures going at once just in case. If one crashes you'll have a backup.