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If you want to practice first, that's a great idea. Here are the basics:
Always make a good mechanical connection: twist or crimp wires together or to their contact(s) before soldering them. [Apply a bit of flux on the connection if at all possible, as it will make things infinitely easier.]
Tin the tip of the soldering iron first with solder by coating it with solder so it's shiny silver, not raw copper. I personally like to file one side of my standard conical-point flat so it looks a little like a chisel, so I can hold the flat side of the tip against the contact. The more contact area, the faster the contacts/wire will heat, which is also important.
Hold the iron against the wires/contacts lightly but firmly, and after a second or two, apply the end of the solder wire to the opposite side of the contact/wire. The solder should melt at once, and flow into (not over) the contact area, evenly coating the wires and contact area. Keep pushing the solder wire gently until the connection is coated with solder, then remove the iron and solder. This entire process should take no more than a few seconds. It's important not to heat the components for any longer than you must, as heat can damage components.
Finally, do not move/jiggle or disturb the solder joint for a few seconds. This is the cause of most solder joint failures or poor electronic connections. Moving the connection while the solder is setting will make a "cold" solder joint, which is often evident by its dull appearance. Good solder joints are bright and shiny.