You learn by doing. Although there are skill sets you can learn, guidelines you can follow and advice you can heed, in the end it has to be said that there is no magic formula. Noone can tell you how to do it. Storyteling is such a personal thing. To be authentic, it needs your personal passion and respect for the story and the listerner and then recognition that you are the bridge between the two.
You also learn by listening and watching. Enhance your storytelling by listening with a discerning ear and eagle eyes to other tellers. Be intently alert to voice, (tone, volume, emotions, etc.), body language, (eyes, hands, movement, etc.), story content, (opening, middle, ending, etc.), delivery (pauses, pacing, silences, audience response, etc.), and extra details that loads the story with suspense, emotion, and meaning.
A good place to start is in front of a live, supportive, encouraging audience such as the GGS' monthly tellings at the Guelph Civic Museum. It includes an open mic and an invitation to tell a (short) story.
We encourage you to contact one of our members for private coaching.
See the practical guides we have posted for your learning and enhancement.