Here's the answer.
Knowing when you have respect in a relationship is simple, as you will know if the other person(s) in the relationship treat you as though you are their equal, regardless of yours or their social status. Also, you will know when you see them talking in a way that's more calm and not just by them calling you dude or bro or something along those lines.
Now developing respect for others is a different story. Learning to respect can be difficult for others (for example me :) because it's hard to give respect if you are not being respected. However, to develop respect for others can be done by simply treating and speaking to them how you would talk to anybody else (as long as you're not crabby with other people), with the words of kindness, care, and firmness.
Hope this helps and have a nice day.
-Kaikai Kitan