I pretty much agree with
323 , with the exception of pushing the clutch to the floor.
The least amount of distance & "time" spent with the clutch disengaged the better it will be for the *drivetrain(engine rpm/trans rpm/drive wheels) to stay in sync. The longer the clutch is DE the engine rpms drop quicker than the drive wheels and that end of the tranny, and going from 1st to 2nd is a bigger ratio gap than from 2 thru 6.
Also like
323 addressed, practice feeling the movement of the gear shifter with the car not moving(think of a row of booths with no doors, if you try to go into a booth and don't watch-out for the walls edge, you will hit it or glance off of it)(they're called gates).
Another thing to feel is the engagement of the clutch...... Put your foot on the pedal and push a little till it feels like it won't give anymore(this is the point of taking any slack out, but you haven't disengaged the clutch yet)...... next at this point push it about an inch or two and shift(this is the zone that works without spending anymore time than necessary to get the gear changed).
I drove semi's for years, and it is the same but slower(plus there's double clutching that gets included).