Just some simple root shape vamping here. That means the main chord note is on your D string(both of them). For example when playing the G chord here, the 5th fret note is also a G(the other two notes in a G chord are B and D). After you can make the chord sound, work on the fret hand release for vamping. After that, it's all about isolating and practicing those shifts.
When you can get the basic arrangement down, dig into those licks! There's tons of great walks and cool vamping variations to add interest and keep the music moving. Also, if you plan on jamming with others, make sure to practice for endurance. At a jam you may play this chord progression, which is used for verses, choruses, and solos 12-20 times or more. Practice how you plan on performing!