How my dad taught me.
We drove around for a bit and he had me watch the rpms and showed me where I should be shifting, then he had me tell him when to shift. Then he would have me tell him to push the clutch and I would shift the car.
Then we went to a parking lot that was also a hill. He parked toward the top of it so that the car would roll backwards. Had me roll back into the middle of the hill and then clutch/break (there was a field behind the hill so if I kept rolling, it wasn't the end of the world--and it was a super mellow hill). He then had me take my foot off the break so that i rolled backwards ever so slightly and had me release the clutch super slowly until it started making that feeling it does right before it's about to stall out. He had me keep doing this until I had rolled down to the bottom of the hill and wasn't stalling out.
Got to the bottom of the hill and then he had me start applying gas at that point. Did this a lot. Kept practicing till I was comfortable starting in first gear. Then he took me around the parking lot so that I could get into second. Then started driving around in a flat neighborhood. Then he took me to a steepish hill and had me start and stop in the middle of it. I rolled back a tad but not enough that it was an issue.
Took something around 2 hours before my dad had me on the freeway. Drove with me once or twice after that and then it was my car.