This is a fabulous article on just this very topic. Finding a band, artist or style of music that you like is the first step. But it's an easy step to take. Pop music allows you to challenge yourself to improve each time you listen to the songs, follow along with lyrics, attempt your own translations using dictionaries and kanji lists. What is even better is the sense of achievement when you come to an understanding of the song's meaning and are able to sing along in real time - maybe even taking the step to performing it at karaoke.
I highly, HIGHLY recommend you try this for yourselves.