It requires trust, equality, empathy and connectedness in all kinds of relationships. Attentive listening is an active process. It requires energetic participation, openness and receptivity. Ask questions when you're not clear about something. This will enable you to get more information and demonstrate your interest and concern.
Some people feel threatened by questions, so be gentle and supportive.
Summarize what you hear the person say to correct misunderstandings. Let the person know you hear the emotional content. Listen between the lines. If I were experiencing that I would feel sad. Learn to be assertive.