Get a key.
There is sometimes a plastic dial on the top of the bleed valve that allows you to direct the water. So turn this in the direction you want the water to go.
Get a cloth and turn the heating on, then loosen the valve with the key. You will hear a hissing sound as the air comes out. When the water comes out you can turn the valve back to close it.
Do not take the key out of the valve as you bleed, because it will take some time to get the key back in position on the valve and in that time you might find a hell of a lot of water has come out. Just hold it in place while the air comes out and turn it back when water starts to flow.
Make sure you have something like a cloth to catch/absorb the water. The water is often dirty and if you just let it out it may hit the walls and stain your paintwork/wallpaper or carpets.
Bleed the highest radiators on the system first. For two reasons. one is that these are where all the air will collect. Two because you will be able to practice opening and closing the valves without having water come out.
After you have bled the system you may find that you need to re pressurize it depending on your system type, so make sure you know how to do this before you bleed, otherwise if you don't then you may take the system pressure below the working point of the boiler and it may stop working.
Finally if you are worried about any of this get the engineer to show you how when they do the yearly boiler service. They are normally happy to help show you how. Youtube videos are also available to watch.