The standard approach is to employ the substitution

. Then

. You can derive the following relations:

(where the choice of

comes from the fact that it satisfies the Pythagorean theorem,

)

and we also have

So the integral can be written as

Simplifying the integrand gives

which can be expanded into partial fractions, yielding

The first integral can be handled immediately (

), while the other needs rewriting in order to be computed similarly. Complete the square in the denominator to get

and cancelling a factor of 2, you'll end up with

Proper trigonometric substitutions will complete the work. (And of course you'll need to back-substitute to get the result in terms of

.)