Start from the home row
Rest your left fingers on A, S, D and F, and your right fingers on J, K, L and semicolon. Both thumbs sit on the space bar. This is home position, and every other key is described by how you reach it from here.
The F and J keys have small raised bumps. They exist so you can find home position by touch, without looking down.
Give every key an owner
Each finger is responsible for a small group of keys. The index fingers cover the busiest columns, the little fingers cover the edges. When a finger leaves home to press a key, it returns immediately.
This feels slow for the first few sessions. It is what allows you to speed up later without looking at your hands.
Accuracy before speed
A beginner who types 20 words a minute with no errors will improve faster than one who types 35 and fixes half of them. Correcting mistakes costs more time than typing carefully in the first place.
Practice in short sessions, ten minutes a day is more effective than an hour once a week.