Practice makes perfect, there's no secret really. Take the board, scan it, form connections in your mind like "hmm, g file is the file that my king sits on when it's castled", "hmm, h file is on the flank", "hmm, d and e files are in the center, one in front of my queen, on in front of my queen", or "4th rank is the frontier line of my forces, 5th is my opponents, 7th and 2nd ranks are dangerous and where our pawns siton, 1st and 8th are our baselines ' etc.
Then throw in random squares like g6 and try to find it quickly. These are all just off the top of my head, you can come up with more efficient ways to practice.
Of course, recognizing the square immediately when you read d4 is one thing, being able to follow lines blindfold is another. That skill is acquired by practice too.
I have a problem that hampers my ability to learn it would seem.
The problem is that when I see algebraic notation for chess moves, my mind seems to just say "too complicated - skip it".