Since your PNS is primarily directed at maintaining the internal equilibrium of your body, bringing attention inward activates parasympathetic networks (as long as you’re not worried about your health). You may have already had some practice with mindfulness of the body (e.g., yoga, a stress-management class). Mindfulness just means being fully aware of something, in the moment with it, and not judging or resisting it. Be attentive to physical sensations; that’s all there is to it.