In the famous hadith of Jibreel when he asked Prophet Muhammad (peace be upon him) about Islam, iman, and ihsan, the Prophet responded about Ihsan, saying it is ‘to worship Allah as if you see Him, and if you can’t see Him you know that He sees you. That is the highest level of faith.’
There are several ways to gain taqwa, through fear and love, including the following:
REMEMBER ALLAH OFTEN
In order to fear Allah, a Muslim needs to remember death and remember the Hereafter.
This is one of the fruits of reading the Quran often, as reflecting on its verses and chapters with the many reminders of the Hereafter help the heart increase in taqwa.
Mention Allah often, as the remembrance of Allah increases the heart in God-consciousness.
LEARN MORE ABOUT ALLAH
Also gaining more knowledge about the Names and Attributes of Allah helps a Muslim remember how dependent we are on His Mercy and Forgiveness.
Always repenting to Allah, as Prophet Muhammad (peace be upon him) advised his companions, saying that he repents to Allah at least seventy times each day.
One of the fruits of fasting the month of Ramadan is to increase in taqwa, and fasting is not only limited to Ramadan, but optional sunnah fasting can also be done the rest of the year to get closer to Allah and increase in taqwa.
Make dua that God increases you in taqwa.
Do as many other good deeds as you can, especially those which Allah loves.
MORE TIPS AND STEPS TO INCREASE TAQWA:
1- Be alert to whatever may divert you from Allah.
2- Be alert to the carnal pleasures that may lead to the realm of the forbidden.
3- Ascribe all material and spiritual accomplishments to Allah.
4- Never consider yourself higher or better than anyone else.
5- Long for Allah’s pleasure and satisfaction in all affairs.
6- Renew the fountains of your iman by studying and reflecting on Allah’s creation.
7- Remember death, and live with the conscious knowledge that it may happen at any time.
(Source - aboutislam.net)