Here is another video on the subject. It's a French one, sadly for most of you, but that's the one I learned with and the gestures are nicely broke down and pretty self explanatory. It comes from "Conduire... Piloter" by jean Michel Fabre, a recognized instructor, and this movie / book (more detailed) is considered as the driver's graal.
Now, here's a training method I would suggest for people wanting to learn heel and toe.
Before everything, always remember to have a good driving position. Regarding the pedals, you should be able to press fully the clutch pedal without any extension from your left foot : you have to be able to push that pedal just relying on your leg. Also, your right heel should always face the brake pedal, and never rest in front of the accel pedal. If you wondered why accel pedals where not straight, that's the reason.
Also, always keep nice safety distances with the others road users, especially when you're in the learning process.
Step 1 :
- Learn to rev-match your engine when shifting down, without releasing the clutch in neutral for now. Don't do this while braking for the moment, or release the brake pedal if you're in safe conditions and not in urge to stop. When you are able to bring the revs to match what they would be on the inferior gear at that speed, you're good to try the next step.
Step 2 :
- You can now try to rev-match while braking. Keep that in safe conditions and when there's nobody right behind, though. You'll have to learn to keep a constant pressure on the brakes while rev-matching. You can go with the classic ankle move, or just use the side of your toe if it's more practical for you / with that car.
- When you're not braking, try to release the clutch pedal when the shifter is in neutral, rev-match, and then kick back the clutch pedal to engage your gear. You first have to learn to synchronize the moves, then try to do it quicker. In the end, the aim is not to lose too much revs between the moment you hit the accel and the moment when the gear is fully engaged with the clutch released.
Step 3 : now try to put all that stuff together. Take your time and think, you'll get quicker soon enough if you practice in everyday driving. It took me a couple of months after my driving licence to get it right and executed fast enough, but don't be discouraged if you need more time to learn. Patience is safety's mother.