1) Understand tempo and rhythm.
2) Get a good grip on the drumsticks.
3) Hit the drums. (Without hurting yourself.)
4) Feel the groove.
You can do these by:
A) Learning from books, DVDs and online resources. (Drummerworld and its forum is a great place to go. Tommy Igoe's Great Hands for A Lifetime is a great technique DVD released this year, 2010.)
B) Getting a drum teacher who'll teach you the above (properly). Find one who's qualified to teach. One with many years of performing and teaching experience is desirable.
I'd recommend both A and B.