It's all practice and familiarity with skipping.
Don't make the mistakes I did for years, though, labour with poor arm and hand position, and using ropes that weren't short enough.
Get those key things right - elbows close, hands fairly low - but still so as it feels natural, and the rope not too long, and jumping only a small amount, and the rest will come with perserverence.
If you feel you need to be bending your arm more, or moving your arms out from your sides, it's a good indication that the rope needs shortening.
Good luck, and I'd be interested to hear how it goes for you as you improve.
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