Do you know the Lucena position? http://en.wikipedia.org/wiki/Lucena_position
Once you know what you're trying to achieve and the technique from there, that should help.
You need to move the rook, preferably as far from the king as possible - d1 or d8 should do it. Then just advance king and pawn, preferably with the king in front of the pawn.
You should also be aware of some drawing techniques in rook endgames, specificially the Philidor position which isn't possible with the black king cut off.

In the book Chess Fundamentals by J.R. Capablanca, this is one of the lines of example 59. A rook and pawns endgame. After the position above, Capablanca wrote:
"The position we have arrived at is won by white, because there are two files between the opposing King and Pawn from which the King is cut off by the Rook, and besides, the Pawn can advance to the fourth rank before the opponent's Rook can begin to check on the file. This last condition is very important, because is the Black Rook were at h8, and Black had the move, he could draw by preventing the advance of the Pawn, either through constant check or by playing ... Rf8 at the proper time. Now that we have explained the reasons why this position is won, we leave it to the student to work out the correct solution."
I tried to play this position as White on my tablet against the Stockfish DD chess engine (with the Analyze This app). The computer says "draw" all the time, and that's what I do: draw. What is the winning strategy?