We can do it in a standing position, sitting or initially the best approach is in lying down.
Developing the habit of doing it daily will help us to learn a new skill to connect with our body. Initially it may feel uncomfortable or like we are not sure if we are doing it correctly, but if you stick with it, it will become easier and more effective.
So just start first with lying down. Take a few, deep, cleansing breaths into your belly. Ask your mind to become quiet, simply allowing the attention to stay on the body and not engage in thinking or mind chatter.
Slowly start scanning the body from your feet, to your pelvis, into your belly, chest area, and all the way up towards the head. Stay non-judgmental and simply become curious.
Observe, breathe, take your time, notice.