We have found that the best way to learn the basics of Test Driven Development is to watch a practitioner.
Some screencasts which allow you to do so:
Alternatively, find a mentor willing to show you.
If that is not possible, then there are some books that are quite useful:
After that, you’ll be wanting to learn new techniques to strengthen your TDD technique.
A good book for that is:
In the end, you’ll want to improve your software design knowledge to unlock the benefits of TDD.
Ultimately, it’s all about practice.