My first regular experience with a keyboard was back in the mid 90's when AOL was new. I was a single finger typist and VERY slow. Online chat is what did it for me. I had things that I wanted to say, and typing with one finger while looking at the keyboard was way too slow. So, I went to both index fingers, still looking at the keyboard. I got faster, but needed to proofread before I sent anything. After a while, I was learning the keys and started naturally adding additional fingers to the equation. Both index fingers became the index and middle fingers on both hands, eventually adding more fingers as I instinctively learned which fingers were closer and what shift/modifier keys were frequently needed. Then, when I felt that my speed (while still looking at the keyboard) was sufficient, I forced myself to look up from the keyboard and onto the screen. That took some effort, but I had already put in the time to commit certain words and stroke combinations to muscle memory. I also "punished" myself that if I made typos that I would manuall backspace, not look and force myself to correct errors manually (no spellcheck or autocorrect) if I typed it wrong, I made myself fix it. Now, I can type onscreen while conversing on the phone or to someone who is standing in front of me, I don't look at the keyboard, and my speed/accuracy is acceptable to me and my long-winded style of writing. If a classically trained touch typist were to see my hands, they would freak out, but for me, it works.

The only way I am aware of is to practice typing. Even if it is stressful initially, doing it often enough will become easier and easier.