Here's a great refresher lesson on the difference between Empathy and Sympathy.
http://themindunleashed.com/2015/01/difference-sympathy-empathy.html
https://youtu.be/1Evwgu369Jw
I always strive see through other people's actions to their intent, to see through inflection, tone, and micro-expressions to the truth that is actually driving their actions. I do my best to see the world through their eyes.
Listen with empathy. Understand. When provoked or prodded, I try not to simply react in the moment. While some may call acting in the moment "honest emotion," I call it reactionism. It may feel good at that very second, but your fear (anger) will always leave a stink in the air and cloud the message you want to convey. Give yourself some time to express yourself—after thought, empathy, and consideration. Without that moment of pause to do that, understanding may be lost.
Empathy is an often overlooked and underdeveloped skill that must be practiced regularly. It can be exhausting, however. Be careful to not go beyond the depth of what you can handle emotionally, however. What you take on empathically may take you down a rabbit hole and leave you there. It has happened to me.
Be the light. Don't wait for it to find you.