First step is to get to know the letters and how they sound. Don't be one of the foreigners who say kamakailan as "kemekeilen".
Next, get a grammar book. There are lots of them for less than 20 dollars in Amazon or if you have library membership, you can check if they have Tagalog lessons e-books.
Don't make the mistake many foreigners do who simply memorize words but do not understand the grammar. Using the right pronoun for the right verb focus is critical.
To demonstrate:
Kinain = ate, Ako/ko = I
Kinain ko - I ate (something)
Kinain ako - I was eaten.
See how the meaning changed by simply changing the pronoun? That's because in the shift in focus. This is why it's a bad idea to translate Tagalog word for word.
Unfortunately, many foreigners think they are good in Tagalog even if their grammar is horrible. They forget that the legwork is done by the native speakers to "decode" what on earth is he/she saying.