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Use pre-packaged 70% isopropyl alcohol swabs to clean your ear. Make a mark where you want your piercing(s) to go. Get a sterile piercing needle. Pick out your piercing earrings. Sterilize the needle with an open flame. Wash your hands with soap and water. Keep your hair away from the spot you are planning to pierce.
You must do this so that your ear is completely wiped clean of any bacteria that may have gotten into your piercing. Wait until the ear is dry to pierce it. You can also use hydrogen peroxide or rubbing alcohol to sterilize your ear. It is important to plan ahead for where you would like the piercing to go; otherwise your piercing might end up crooked, too high, or too low. If you are piercing both of your ears, look in the mirror and make sure that the marks you have made on your ears are even. If you have other piercings and are doing your second or third piercing, make sure that you leave enough space in between piercings so that you can wear studs in both holes without the earrings overlapping. Likewise, don’t make your holes too far apart or they may look odd. Piercing needles have a hollow center so you can easily slip your earring through your ear once you make a hole with the needle. Do not share needles with other people as this could lead to infection. Piercing needles can be cheaply obtained at many online vendors, as well at many piercing studios.  Make sure to use a needle that is one gauge bigger than the earring that you plan to wear. 16 gauge barbell studs combined with 15 gauge needles work well. You can also choose to buy a piercing package, which comes with two sterilized piercing earrings that have been loaded into a spring puncher. You can purchase these at beauty supply stores. Make sure to follow the directions on the package exactly as they are written. The best thing for newly pierced ears, whether it's through lobes or cartilage, are studs. 16 gauge and about 10mm long (3/8") is a good size; the length allows for swelling, which can easily double the thickness of your ear.  Some jewelry stores sell piercing earrings--these are earrings with a very sharp tip similar to a needle. These are good to use because they will re-pierce your ear as you slide it into the hole made by your needle. If you can, purchase earrings of a higher quality metal such as silver or titanium. Metals of higher quality are less likely to infect your ear or cause an allergic reaction. Be aware that some people are allergic to lower quality metals like gold-plated metal. Do not reuse someone else's needles; your needle should come in a sterile package. Hold it there until the tip becomes red hot. You should wear sterile latex gloves while doing this so as to make sure that any bacteria on your hands does not get on the needle. Be sure to remove any soot or detritus. Wipe the needle clean with 10%+ rubbing alcohol or hydrogen peroxide. Be forewarned, this will only be a partial sterilization and will not kill all the potential microbes that may be on the needle. The only way to completely sterilize piercing utensils is by using an autoclave. You could also sterilize the needle by boiling water. Once the water is boiling, place the needle in the boiling water and let it stay there for 5 to 10 minutes. Remove it with tongs and only hold it with sterile latex gloves. Wipe the needle down with hydrogen peroxide or rubbing alcohol. This will decrease any chance of bacteria of spreading. Put on sterile latex gloves after you have washed your hands. Your hair might get stuck in between your ear and the earring, or it could get pushed through the hole you make with the needle. If possible, tie your hair up and away from your ear.