unfortunately , skipping comes with practice!
first off, running on the spot is a form of skipping. i do that rather than jump on the spot most of the time. skipping is all about reactions and co-ordination. keep going as you are, untill you feel comfertable.

for the average skipper the idea is to clear the rope as it comes round, but keep your feet as close to the ground as you can. some people choose to "power skip". this is a form of stamina only traning, rather than co-ordination, and involves sprinting on the spot, spinning the rope at a constant maximum speed, and doing double/triple jumps (this is where you jump as high as you can and tuckl your legs in while keeping the rope going, the idea is to spin the rope twice or 3 times for each jump)