Basically, get up to 20-25 mph (30-40 kph) and (almost) stop, braking as hard as you can safely, maybe a dozen times for each brake.
Do front and back brakes separately.
The back brake is best done on the flat, hanging your bum off the back of the saddle to add weight to the back wheel. A gentle downhill saves effort for the front brake, but if it's too steep your braking is limited by the requirement to keep the back wheel on the ground.
Best done whilst the brake pads are new, on clean, dry tarmac.
You should find that braking noticeably improves during the process.