Person in car to traffic cop: "How do I get to Carnegie Hall?"
Traffic cop: "Practice, practice, practice"
Poetry is like learning a foreign language. Once you get a feel for it, it seems like you could always do it and it seems natural So don't feel bad if you feel inferior or silly now, because there are MILLIONS of other people who feel that way about their ability with poetry.
Read more poetry. Find a style you like. Not everyone likes rhyming, not everyone likes freeform. Then there's rap, which I always think has a C missing off the front, but others love. Your style, when you find it, will come more easily to you than anything else.
Pick a subject that comes from the heart, rather than the mind. A good poem comes from a hole in your heart, and when others read it they either feel a similar hole in their heart, or relate to your bleeding.
But it's a language, or even music. The more you sing it or hum it and write it, the better you will be.
If you feel silly, don't share your early poems. Save those just for you, so you can see how you've improved.
When you get more experience, learn about meter and rhythm and syllable counts, etc. Buy a rhyming dictionary to easily finding words with the right rhyme. You can use the rhythm and syllables of a word or words to imitate the sound of a galloping horse.
Just start. Anywhere. The rest comes with practice.