you'll need time, but it's not sooo hard.
Start with one specific palo. I would recommend soleá - the rhythmic pattern is easy to find in internet and if you have Paco Peñas "toques flamencos" you can see the rhythm with the notes.
But the most important: listen so much as you can - e.g. the old ones accomp. cante: Manuel Morao, Niño Ricardo, Ramón Montoya, Diego del Gastor ... in youtube you can also see, what they are playing
and also: repeat the rhythm in your mind, your body till you're getting obsessed by this specific palo