have an idea of the ideal access shapes-have a diagram right beside you if possible
start off with a 33 1/2 round bur at first to get the general outline-once you get that switch to a round bur and go in at the appropriate angle to access the canals (i.e. for central incisors you need to go in at a 90 degree angle, then 45 degree angle to access the canal). you should feel a drop once you get into the pulp chamber.
after you feel the drop use an endo explorer to feel around for the canal. if you can stick the instrument in, you're in good shape. at this point, you would refine your access to make sure that there is no ledging.