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Drive more.
Seriously, that's the best way to do it.
Go find a park without a lot of kids in it, especially this time of year in the states it's too cold so that should be easy. The roads are <15 MPH and usually easy/no hills.
You want to find your grab point. this is when the clutch plates come back together. you just have to practice getting up to and engaging, and then get off it in a smooth motion. Come to a stop, do it again.
2K RPM seems high to me saw that said a couple times, but I don't drive the FR-S that much at the moment as I don't have one. You can also find your sweet spot with practice.
That's why these cars are fun in my view. You 'feel' your way through things. Revving the motor slightly, releasing the clutch slowly, grabbing and letting it engage.
You don't want to be at the 'clutch halfway in/out' point more than a second or two, longer you're burning and slower you're gonna get whiplash with the surging that happens.
You can ride with someone telling you what to do, I guess it depends on how you learn to me it wasn't all that helpful, you just feel your way through things.
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