How to put a hammer to hammer in a nail right away? How to put a screwdriver to unscrew the screw? How to move the steering wheel to make the car turn as you need? No indication of how to do it correctly will give you a sense of those movements and rhythm. So try and enjoy :) only your partner will tell you, look at him and if you are not sure of the result, just talk, because everyone wants what would be better and he will tell you how it was better
Of course, you can read forums, books, watch training videos and manuals, but, as the classic wrote "experience, son of difficult mistakes" - the more practice, the better.