In my experience the following things work:
1. Daven in a shul where they are machshiv davening and the oylum is into davening and davening with feeling (more common in a chassidish shul, or a yeshiva minyan)
2. Try to sit next to people who dont talk by davening and are into the davening. If you sit next to “good daveners” it will rub off on you. Additionally, talkers will distract you.
3. Try as much as possible not to look out of the siddur. You really start to connect to Hashem when its just you, your siddur and Hashem. I learned this from Rav Shlomo Brevda.
4. This should be before 1 but its obvious, you must know what the davening means not just the translation but also some perush into teh ideas and concepts. I daven from the Artscroll interlinear siddur and I find that when I dont have it my davening just isnt the same.