Practice, practice and practice. That's all Drums is, millions of hours of practice.
Rudiments are key to developing different patterns and can be played on a Pillow while you watch TV (seriously). You can also incorporate different limbs while using rudiments around the kit (instead of L and R hands, maybe R hand and L leg, or vise versa).
I'd get a practice pad (or a pillow works if you don't wanna invest $10-20) and download an app for a Metronome.
Every time you practice you should listen to a Metronome, although it's not necessary, it will help you down the road with timing.
Seriously though, all it is is practice. Sit on the kit and try different things, watch YouTube videos to teach yourself various things, go to your local drum store and find out when someones having a clinic so you can go and learn in person (or as said above, make friends with someone already playing drums! My best friend was actually the one who got me into drums, over the years just watching him and listening to him play has helped me TONS).
Just remember, drums are NOT mastered over night. Don't become discouraged because you can't play like the greats, you'll get the hang of it eventually.