Take some classes towards some kind of counseling certificate, specifically ones where you can observe experienced counselors. You'll see people with expert listening skills use them to help people.

That's what I did and it changed my perspective permanently. Before becoming an engineer I studied theology, which is actually a pretty technical discipline that requires insane amounts of reading (i.e. not people oriented). Afterwards, I took a counseling degree. Digging into people's lives, their struggles, and watching my professors help people really opened my eyes. It helped me see where I was being rigid and taught me some amazing listening skills.