1- Tapping is a type of “legato” playing, if you are not familiar with that I will link to something I wrote about it a while ago.
2- To get a feel for it, crank up your gain and volume so your guitar will pick up on every little thing you do, start pressing with your picking hand on the fretboard until you mange to play the notes. As you will get better at it you can turn the gain and volume down
3- Use your fretboard hand to mute the string, making it easier to get just the notes you are tapping.
4- Encore your hand, either using the root of your palm or your non tapping fingers.
5- Don’t use your whole hand to tap, use just the finger, kind of like pretending you are typing on a REAL keyboard.
6- After making a sound by pressing the finger on the fretboard try to pluck it, or pick it, by pulling the string when you leave the fretboard.
7- Try tapping and puling on each string,
8-get some simple legato going with your fretboard hand
9- Add a tapping note to it. Starting with the tapping note and then “picking” for the next note while leaving the fretboard (like we discussed at step 6)
10- Find tapping licks, invent them ask other players for them.