I looked into this also, check out the internet for several installations. One that sounded interesting was to put a T in the hot water line close to the faucet farthest from the HW Tank, run this to the circulating pump, and then run the output to a T near the HW tank with a back flow preventer there.
You can use a manual switch or one with a short timer (just long enough to get hit water to to the pump). There is no loss of water in this system, but you don't need to run the pump to long wasting electricity.
I saw several inexpensive circulation pumps on line, just make sure it can handle the hot water temp expected.