This is something you would do through trial and error. At least, that's the approach I took. I'm not sure if there is any algorithm to solve. The solution I got is shown in the attached image below. There are probably other solutions possible. The trick is to keep each number separate but not too far away so that the other numbers to be filled in later don't get too crowded to their neighbor.
Side note: any mirror copy of what I posted would work as well since you can flip the page around and it's effectively the same solution.