First of all. What is telepathy?
Let us take a moment to examine what telepathy actually is.
Telepathy is the ability to directly communicate with another person or animal without using your traditional senses.
After a small amount of time - try to get in tune with each others emotional state. From there begin to have one subject think of an object or place.
The second person then relaxes and tunes themself in sync with the first person and tries to garner information of the place or object thought of.
If you're a naturally emphatic person you will find this quite easy. Continue to develop your psychic sense of telepathy and you will see it work on others unconsciously in the future.
Telepathy takes time to develop so you need to work on it gradually. Don't get frustrated if you don't get results straight away. It takes time so be patient.