How to really understand the Bible
Good question. For one, anthropomorphic statements about G-d should always be taken figuratively as metaphors. For example, Maimonides understood the "Garden of Eden" story to be a parable. Ralbag understood that the sun did not really stand still for Joshua at Gibeon, this was a feeling Joshua felt "as if" the sun stood still.
In his work called Chelek, Maimonides writes that those who take Midrashim literary are "fools," while those who reject them out of hand are also "fools." Midrashim are imaginative parables, sermons designed to teach moral lessons. People should mine Midrashim for lessons about proper behavior. The same can and should be applied to Torah study.
In his Guide of the Perplexed 2:48, Maimonides explains that whenever the Bible says that G-d did something, it is not that G-d actually did it but what occurred was the result of the laws of nature. Since G-d created the laws of nature, the Bible attributes the event to G-d, since, though not the direct cause, G-d is the ultimate cause.
Be it as it may, even some biblical laws are metaphors. For example, the laws of tefillin, though very ancient, were probably not from Sinai. But they are still sacred and very powerful. But as the Rashbam points out when comparing them to Mishle (Proverbs), the original intent was figurative. The term Haza"I "halakhah le-Moshe mi-Sinai means that they should be related to "AS IF." A slippery slope?
No, Maimonides stressed that the Kosher laws, tefillin, and all biblical and rabbinical enactments should be observed as the rabbis explained them (as per Deuteronomy 17).