There are a couple of ways to tape out, but one of the more common ones is "plotting points". It's described pretty thoroughly in this thread:
http://smnetwork.org/forum/index.php/topic,3558.msg21645.html#msg21645 .
I like to (if possible) measure out the points ahead of time- it makes taping go a lot quicker. Things that help- an extra-long tape measure to run along the centerline upstage/downstage, and another tape to run SR and SL from center. A scale rule to measure out the groundplan. Kneepads, scissors, a triangle, chalk and a piece of string (for taping circles) can all be useful.
Find out the dimensions of your rehearsal space. If you don't think the set will fit in the rehearsal room, you can make a template of your rehearsal space with a piece of paper or cardboard. Measure out the room, draw it on your template in scale, cut out the shape of the room, and then you have a template that you can overlay onto the groundplan and manipulate the template so that you can see what the best layout is for your space. (I've also seen this done with a piece of plexiglass, with the shape of the room drawn on in sharpie- genius! You can do both a half-inch and quarter-inch template on the same sheet.)
Good luck! If you have any specific questions about taping, post them. The best advice I can think of is to look at the groundplan ahead of time, and make sure that you fully understand it, so that you don't get to the rehearsal room to tape, and realize that you still have questions for the TD about the set.