Find an empty road with a slight incline, no pedestrians. Practice holding the car just on the bite point, keeping it there, then moving and then stopping. Repeat.
Now try it but stopping using the handbrake each time and putting the car into neutral, then back into gear and getting the bite point.
It's difficult to sustain a relaxed bite on an incline, but your muscles will get used to it over time. Sometimes if I'm going uphill and giving way, waiting to join a road I'll find one foot will move a little, giving me too much or too little gas, or pressing or lifting the clutch too much. But it all just gets easier with experience and confidence.