So you are jealous of all your friends that can tap their foot to their favorite songs and you can't even blink in a rhytmic fashion? Well here's the simple steps to learn how...
First of all you need to practice listening to a song. See if you can hear the different instruments or the different sounds incorporated in the song. The easiest sound to find in a song is the snare. Here's an example, in the video "I Won't Go Home Without You" by Maroon 5. (linked below in "Resources" section)
Step2
You can see that the drummer in the background is hitting the snare with the beat. Take that as a starting point, and the see if you can hear the bass. Good luck!
Sources: www.youtube.com search Maroon 5 "Won't Go Home Without You"
Step3
Try and listen for the bass next, this one will be difficult if the song is a instrumental. But it's possible. Try and listen to one sound and follow that sound throughout the sound. You can stay on beat even if it's an "off beat" Find a sound in your favorite song and stick with it!
Step4
It will take practice, just begin listening to your favorite songs and try to hear all the different sounds that are used. You will not only begin to learn to stay on beat, but you will begin to hear all different sounds incorporated in your favorite songs.
Tips & Warnings
Have patience! Don't feel bad if you can't find the beat right away. Practice makes perfect.