Take it one note at a time. I would suggest long tones (i forget what singers call them but it's considered long tones on an instrument other than your body). Essentially, you just take any note you want to work on, definitely internalize it before you sing it (that's a whole other topic in itself), breath in properly (another topic as well) and let your body resonate (which a lot of people don't do properly, they'll strain and force the note which is improper form and leads to other problems in the future). Just hold the note and sustain the pitch without straining and preferably with a tuner after you try to work on it without one for a little bit. I suggest using the tuner after working on it without one for a few minutes, then you'll see where you internal idea of a particular note is.
I'm not an expert by far but over the summer I worked on my singing a little bit to improve my internal recognition of tones. The quicker I internalize it with my body, the quicker my muscles will respond when I want to play a note on saxophone.
It's important that your body vibrates and produces the tone, not simply that you use you throat. That's how you get a full sound and correct. And, more times than not, you'll be more accurate than if you just depended on your throat. When you sing correct you should feel relaxed never tense.