Simply press the brake on a stand still long enough until you see a hold icon in your screen.
Hill hold is a feature introduced in all Tesla’s from 2015. If you have an older Tesla Model S you might be out of luck.
This tip is from the author and owner of this website, Remie Cremers. Find me on LinkedIn. Are you buying a Tesla? Feel free to use my referral link for 1000 miles of free Supercharging! https://ts.la/remie90440