How do we go about practicing these I mean intellectually we can read all about it, but emotionally its what causes our fears and most of all change because our boundaries were invaded and when we tend to put these boundaries up the only way we know how is to fight and be aggressive and not communicate properly.
First of all we need to recognize boundaries for boundaries. Whether they are poor or strong or just right, we need to recognize their existence first and foremost.
Secondly we need to analyze these boundaries and evaluate whether or not they are too weak, too strong, or right where you would prefer them -- and by you I mean, you and also 'little you' -- listen to your heart.
Thirdly its optional but if we have a close friend or seven to bounce the boundaries off -- and if we have the time to conduct a thorough inquest into the who/what/when/where/why of these boundaries. This will give you a great deal of insight but may not be available in day-to-day situations.
Fourth its time to put our decision into action. Make the new boundary known somehow if needs be, and essentially 'try it on for size'. This is mostly the experimental stage... For example, telling yourself that your mom's shit is your mom's shit and NOT yours.
Finally, Once you find a healthy boundary (like the one I exampled above) it's time to reaffirm this boundary and as you do, you will start to notice all the ways in which your old boundary (or lack thereof) didn't work out for you.
So to summarize:
Kewl! That spells out RADAR... I could like write a book or develop a thesis on this shit.
Like you say, it'll take practice and eventually you'll get the hang of it. Your bike analogy hits the spot. Eventually you'll lose those training wheels and be able to do tricks.
I know you've got it in you,