You'll get varied responses to this. Pure barefooters will say go completely barefoot, start by walking around the house etc. barefoot, then start on e.g. 200 metres, barefoot on pavement or a similar hard, flat surface, and gradually increase, and just be patient.
When I transitioned to minimalist I was increasing my mileage faster than I was able to increase my minimalist mileage, so I continued doing my longer runs in other footwear, but tried to maintain the high cadence etc. (see below) Then I gradually built up my minimalist mileage. I do a bit of actual barefoot now and then, but only if I can check the surface for broken glass, dog poop etc. first.
The main differences when running barefoot/minimalist (I wear VivoBarefoot Neos myself) are short strides, landing with your foot under you, not out in front, and high cadence (about 180 strides/minute - that's 90 per leg). That should encourage touching the ground with your midfoot or forefoot first, after which the rest of your foot (including your heel) touches the ground.
VBs or other zero drop shoes and the barefoot/minimalist style will put more strain on your calves and Achilles's tendons, so you need to do lots of calf massage (e.g. in the evening after a run AND the following morning) and consider whether you're doing appropriate calf stretches as well.
Good luck, and remember: if it hurts, rest.