There are many ways to learn to drum; this was my technique of learning without a kit:

1. Familiarize yourself with the pieces of the drum kit: snare, kick, hi-hat, ride, crashes, toms.
2. Learn which part makes each sound.
3. Listen to songs and associate each sound with the drum piece.
4. Air drum to songs by holding the sticks and simulating a basic beat: hi-hat on 1-2-3-4, kick on 1, snare on 3. Move your sticks to where the actual kit pieces would be.
5. Air drum to songs and change up your beat to match the beat of the song.
6. Keep practicing.
7. Get some time on a kit: listen to songs and drum along.
8. Wash, rinse, and repeat.