You can see the adverse yaw as you bank, the nose will initially yaw away from direction of bank if not corrected. What you are doing is countering the drag created by the down aileron. Once established in the turn very little rudder is needed.
Practice is how you get better at it. You will then by reflex add rudder when you use aileron. Your butt does more to tell you if you did it right than tell you what to do, it's kind of a quality control check.
A drill you can do is point nose at a reference point then roll into alternating steep banks while using rudder to keep the nose on the ref point.