Day 1 and Day 2 of The Rookie were included on the re-released special edition DVD of Season 1. Day 3 has yet to have a DVD release, and since The Rookie website was taken down, there is no official way to view the episodes.
The series was made close to the style of 24, in that it used many of the same devices that made 24 what it is. For example, at the beginning of each "Day" there is a voiceover of Jason Blaine telling the viewer what time the series takes place between. Also, at the beginning of each episode, there is a "Previously on the Rookie" section, again with a voice over by Jason Blaine. The split screen style was incorporated into the episodes often (at least once) to show phone conversations as well as to wrap up each episode.
However, the episodes do not all take place in real time which is a step away from the show. Also, each episode does not cover one hour, but a different period of time each episode.