On the Internet, you will find a lot of tips and tricks, related to this question. However, I have taken a courage to simplify them to one simple rule: you should be a good listener. In other words, we can say try to understand others first.
It sounds simple, but I've seen only a few people that are good at it and the reason is very simple: people think too much while listening. For example, some people worry how they look like; others start thinking about a next question while another person is still talking.
I think it's impossible to convey by words how to be a good listener, you can only experience that state. The good pointer that might bring you closer to it is the idea that thinking and listening can't happen at the same time.