Things You'll Need
Instructions
Study books detailing chess endgame theory. These will show you positions you should strive to have your pieces in before getting to the endgame. This will enable you to influence the game from the beginning to get your pieces where you want them.
Study chess websites dealing with endgame theory. Many of the positions in the endgame will need to be memorized before you can begin to understand how to get into them intuitively.
Play against your friends. They should be as strong a player as you or better.
Talk to your friends as you play. Talking out loud about what you are doing can help you internalize the steps you need to follow. Once you have internalized the endgame moves, you can begin to set up the endgame whenever you choose to.
Watch chess tournaments, paying close attention to piece movement. Skilled players will begin to set up the endgame with the first move.