Your only goal to hear the other person! You can engage in simple behaviours to make the listening active and to help the other person feel heard. For example:
Research shows that those little gestures can make people feel more valued in your interactions with them. Take some time and practice these skills during regular interactions with coworkers, family members, or friends. You will probably notice immediate results – that people feel great when you do it. Develop those habits with low stakes interactions and then you will be ready for the more challenging conversations.