If you're not confused yet, here is what I would do to take a tour of the monorail and resorts without having to double back or retrace steps.
1. Take the bus from your resort to the Magic Kingdom.
2. Get on the resort monorail.
3. The first stop is the Contemporary Resort, STAY ON THE MONORAIL- save the Contemporary for last, you'll see why in a minute.
4. The next stop is the Transportation & Ticket Center (TTC). Get off the Resort monorail, switch to the Epcot monorail.
5. Ride the monorail to Epcot and see the sights along the way. Once the monorail arrives at Epcot, if you want to enter the park, get off the monorail for a while, otherwise stay on board, and it will take you back to the TTC.
6. Get off the Epcot monorail at the TTC. Transfer back to the Resort monorail.
7. The next stop is the Polynesian Resort. Get off the monorail there and see the resort.
8. Get back on the resort monorail.
9. The next stop is the Grand Floridian Resort. Get off the monorail and see the resort.
10. Get back on the resort monorail.
11. The next stop is the Magic Kingdom. Unless you want to get off and enter the park for a while, stay on the monorail.
12. The next stop is the Contemporary Resort. Get off the monorail here and see the resort.
13. Exit the resort to the pool area and marina. Get on board the boat to the Wildnerness Lodge.
14. See and do the things you want to do at the Wildnerness Lodge.
15. When it comes time to go back to your resort, the easiest way would probably be to take a bus from Wildnerness Lodge to either Downtown Disney or one of the theme parks that are still open, and then switching to the bus that goes to your resort from there. If the Magic Kingdom is still open at that time, it might also be possible to take the boat from the Wildnerness Lodge to the Magic Kingdom (different boat than the Contemporary-Wildnerness Lodge boat), and then get back on your resort bus from there.
See? 15 easy steps for a resort/monorail tour!