When you get fairly good at listening mindfully without speaking, begin to experiment with offering brief verbal comments that express kindness, or ask questions that deepen understanding. 

This constant, low-grade sense of urgency can impede genuine communication. 
Mindful listening - focused attention to what another person is saying, without judging or having an agenda - is a foundational skill that is rarely practised anywhere.

As with mindful breathing, your thoughts will wander. 

When the other person is speaking, just listen. Stay mentally active and alert.

Tuning in to your own body can give you valuable information about your direct experience when listening.