Arrange to visit with these people in their homes, attend their lectures, write letters to them, or become their apprentice. Read books together everyday. Talk about ideas and philosophies while eating dinner. Be a passionate scholar yourself. Visit historical sites.
View films together about historic events.
Write letters to grandparents and other people who are much older. Nurture strong connections with the past. When appropriate, make a point to talk with people on the street and in the shops. Ask them questions and listen carefully. Be endlessly curious.