Find a local chapter of Orienteering USA and sign up for any upcoming beginner seminars or outings. Orienteering combines hiking and topographical map reading. Orienteering clubs frequently offer entry-level classes designed to introduce newbies to topographical map concepts.
Sign up for backcountry navigation classes with a local community college or university's outdoor recreation program. These courses teach map reading, compass navigation and how to use the topographical map as a tool for orientation.
Take day hikes with U.S. Forest Service rangers or guided outings with the National Park Service. Watch what the ranger does with a map and compass. Park service naturalists and rangers often offer outings and seminars on backcountry navigation and techniques.
Hire a hiking guide and ask for a trip that's heavy on topographic skills and navigation. This will allow you to enjoy the benefits of exploring the national parks and learning from real backcountry professionals.