Step one; turn the bench grinder on.
That is the really easy part.
Look closely at the drill and note the cutting edge is a straight line.
Hold the drill so that the edge you intend to sharpen is facing up and parallel with the shaft of the grinder and very close to the wheel; NOT touching yet!!!!
Imagine a radial line drawn from the center of the shaft to the cutting edge of the drill and project this line out for about the length of the drill.
Because the cutting edge of the drill is parallel to the shaft of the grinder the drill and imaginary line will form an angle that depends on the point angle of the drill.
Now imagine you are looking from the side; the centerline of the drill itself should be below the radial line by around 3 to 5 degrees. This is what starts your initial clearance angle on the cutting edge. 'Looking' from the side is necessary so you 'see' the projection of the radial line onto the drill centerline.
So far things have been easy; now you go into imagination overload but first a little explanation.
If you simply brought the drill into contact with the wheel in the position it is currently held the cutting edge would be ground okay but further around there would be insufficient clearance; the 'heel' of the drill would rub. You need to be able to grind heel clearance.
Now imagine a line that runs parallel to the cutting edge of the drill but which is located about 1/4 to 1/2 the drill diameter back from the edge and about 1/8 to 1/4 the drill diameter below the level of the cutting edge. You are going to rotate the drill around this line with the cutting edge moving upwards.
Naturally if you just did the simple rotation the cutting edge would rotate up and away from the grinding wheel so it is necessary to move the axis of rotation down and closer to the wheel simultaneously with rotating the drill around the axis. This is the hard part; it is difficult to describe other than to say the cutting edge of the drill performs a sort of 'scooping' motion. The radius of the the scoop and the depth of the scoop determine the heel clearance on the drill but if you scoop too far you hit the opposite cutting edge against the wheel and destroy its cutting edge.
And once you have perfected this for one cutting edge you do the other exactly the same.