To soften your beard and open your pores, shave either in the shower or just after getting out, before the steam escapes from the bathroom. Use a good shaving cream that contains skin-soothing ingredients. Don't dry shave, which increases skin irritation.
Don't use regular soap to lather for shaving - it dries out your skin. Keep your face as wet as possible by using a badger hair brush and working the shaving cream thoroughly into your face. Shave with the grain (down) of your facial hair rather than against the grain (up) to avoid irritation and ingrown hairs. Don't repeat strokes.
If you get ingrown hairs or razor bumps after shaving, you may discover that double edge safety razors are a better choice than multi-blade razors.