You can either get naked or stay clothed - it is up to you. First choose your surface, the three key surfaces being wall, bed, chair. For the wall, just start to rub against it. Force your body onto it, thrust your pelvis. If you have a wall with an inverse corner, grind against that. For the bed there are vast of different ways to grind. On your front or on your back - it is best to be naked and finger yourself whilst using those methods.
Alternatively, you can use the corner of your mattress to grind against. Get your vagina aligned with the height of the mattress and begin to force your body onto it, have the corner in between the labia lips. It is best to be naked when using this method, the feel of the mattress on your skin is quite a turn on.
Another method of grinding is using the bed is if you have a head or foot board you can put your legs on either side of the board (like you’re riding a horse) and begin to rock back and forward, grinding your vagina and clitoris against the board as you do. Similarly, if you have a bed post, wrap youself around that, being careful not to put too much weight on the post. Begin to grind yourself against that.
Finally, like with the mattress you can grind along a chair. You can use the corner of the chair, the arms or just the seat.