You must listen. You must open your heart and listen with the intention of hearing. This is a skill that takes a lot of practice. To make sure you hear the other person, you must try to rephrase what they have said. It is important to perceive what the other person is thinking, feeling, and wanting.
This is a social skill that can be learned and with practice will improve your general understanding of the world and how social interactions work. With this understanding, your feelings will soften for people in general because you will realize that they are just like you, and that their needs are the same as yours.