Bring your attention to the touch of your hands resting in your lap or on your thighs. But do not try to hold your attention there. Allow thoughts, feelings, and sensations to arise, and let your attention go with them.
If your attention leaves the touch of the hands for a long period of time (several minutes), you can gently bring your attention back. Otherwise, just sit with what comes up. If you encounter an experience that is hard to tolerate, after a while of being with it you can bring your attention back to the touch of the hands. But only hold it there long enough to feel grounded or relaxed, and then, if your mind goes into that kind of experience again, just let it.
People have made rules out of these instructions, and you might too. That is fine. At some point, hopefully, you will become aware of those rules. But, for now, it is enough to know that there is no way to do this wrong, as it is not about following an instruction as much as about allowing your experiences to unfold. Seeing for yourself, from your own experience, what works and what doesn’t is what meditation is all about.