Nah, it just comes naturally. You just have to get in touch with your inner crepuscular being.
If you're feeling flexible, youy could take up slinking. Slinking is a fairly elegant way of sneaking about, though the footwear is less comfortable. It takes better fine muscular control than skulking, which allows for some slouching. Lurking is more stationary, and better suited if the activity is intended to evetually lead to lying-in-wait. Finally there's creeping, which comes in the wallflower (hesitant) variety and the menacing (psychopath) variety, which is ideal if you're going for an aura of "one of the quiet ones" and haven't yet decided if you eventually want to be one of the ones they should watch out for or if you want to be one of the ones who eventually blooms.