Could anyone please tell me how to reach Lucena position?

Hey guys,

My first time here. Hope you are all doing well.  I'm new to the site and checking it out and would buy premium membership later if it is good, so far so good.  I watched many videos on youtube on lucena position, but none of them tell how to reach that position. Could anyone please tell me the technique to reach lucena position if one person has a  rook ,pawn, king and other person has only king and rook.  I understand lucena position but don't understand how to get there. 

So in this position I hope to move white rook to f1 and stop black king from action. Don't know what else to do. If anyone can help me I would be greatful thanks. By the way I made this puzzle up, I'm a beginner so i have no idea if lucena positin can be reached here. 

Please can anyone show me how, or link to video. Once black rook attacks pawn from front eg c8, I don't understand what to do. 

1.Rf1 Rc2

2.Kd4 Rd2+

3.Kc5 Rc2

4.c4 Kg5

5.Kd5 Rd2+

6.Kc6 Rc2

7.c5...

So on and so forth. 

"... Once black rook attacks pawn from front eg c8, I don't understand what to do." - sam16231 (August 25, 2018)