My dad taught me and I taught my daughter. The best way is to go to an empty parking lot for short periods of time. When it clicks, it clicks-sort of like riding a bicycle. But, do tons of practice in a parking lot and never start on the ride until shifting is second nature in a parking lot.
I told my daughter that the clutch and the gas pedal were like a balancing act. As you slowly release the clutch, you depress the gas. And I also told her to not release the clutch all the way at first until she was really driving along so as to not stall the engine.
Good luck. Just be patient and short positive practice sessions over and over are what it takes.