You don't need anyone to teach you this, you already know. All you need to do is pay attention.
You'll get unhappy if you think of your trip to the grocery store as an unpleasant thing you need to "get over with" so you can do... what exactly? Laze on the couch? Is that your perfect day? All tasks become pleasant when you put your full attention into them. The suffering only occurs when you wish you were doing something else.
I sometimes think what I'd do if I were a billionaire. I'd buy a huge yacht and fill it with models. And lots of property everywhere. But then maybe I'd spend all my time managing my yacht, my properties, and my portfolio. Hold on, that doesn't sound like fun at all. Maybe I'd hire managers for the yacht and the properties... then I'd spend all my time managing the managers. Doesn't sound like fun either.
Maybe I'd sit on a beach and do nothing. But then I could do that right now. Ta.