Once you have been typing for a long time your brain memorizes the keyboard without you even knowing it. The brain knows where the keys are and one day you will be typing and notice through out the entire time you were typing you did not look at the keyboard...When that happens you will know the keyboard is becoming memorized by your brain.

This is my take on it and that is what happened to me. I was writing a 20 page paper for my final and I noticed on the 5 or 6th page I had not looked down once at the keyboard. I felt happy and was proud I had accomplished this. I tried to use programs that teach you but they never worked for me. So I gave up and eventually mastered the keyboard by myself. Just keep it at and you will eventually get it.