According to calisthenics coach Alistair Sanders from East Coast Calisthenics, the best way is to head down to a calisthenics-specific workout class or chat with a trainer who's a specialist in the area.
That said, it's a bodyweight workout that requires no kit, so it's also easy to do from home if you'd prefer. Moves like push ups, handstand holds against a wall, and leg lifts are all traditional calisthenics moves that promise to boost both your strength and tone.