Usually, a brand new rope tends to be kinky due to the factory coil. The more you use your brand new rope, the less kinky it is likely to become. However, if you want to remove the kinkiness before heading to the crag, uncoil the rope and run the entire length through your hands.
To prevent kinks into the rope, you need to stop using the traditional coiling methods. While you spool the rope around your feet, or over your shoulder, you are likely to twist the rope and introduce kinks. Instead, get a rope bag or buck to prevent it from twisting. If not, you can also use the pack-coil technique to keep it less kinky.