A site taught me steps but it takes a long time to figure out. It helps if you stare at your hand (make sure the background is dark) for a long time, see if you can get your eyes to unfocus a little. Then look at the edge of your hand. You should see a thin white layer looking glove around your hand, that's the outer layer of your aura. To see the colors you have to look in between the white and your skin.
For me all I see is white. When looking at people try staring at their heads...though you might freak them out. I stared at my friend once and thought I picked up some colors of his aura. I wasn't too sure though. I've been trying this technique since January though, so good luck!