Watch the Tapping: Level 1 online guitar lesson by Chris Buono from Guitar Gym: Tapping
Workout #1 is crucial because it introduces you with making contact with the strings on the neck with your pick hand finger, which is now your tap finger! Just look for the "T" on the chart to know which notes to tap and you're off and, well, tapping!
Listen carefully to the suggestions in this Overview video where I give you a few suggestions on how best to start developing a tapping technique such as which finger to use, where to hide your pick if you decide to keep the pick in your hand and more. Take it slow, stay focused and you will get the results you're looking for.