Measure the height and width of your walls with a tape measure. Use the measurements as a guide in purchasing the number of rigid foam panels you'll need to cover the walls.
Place a foam panel at one corner of the basement, against the wall. Note any obstructions or openings you need to trim to work around. Cut the panel by scoring the foam with a sharp utility knife, using a straightedge to guide your cut. Snap off the excess foam with your hands.
Place a tube of construction adhesive into a caulk gun. Apply adhesive to the back side of the panel, and place it against the wall. Hold the panel in place until the adhesive sets and the panel doesn't shift.
Place your other panels using the same method.
Place a stepladder at one side of the ceiling. Unroll a roll of batt insulation, and stuff the insulation, paper side down, between two ceiling joists.
Staple the paper edges of the insulation onto the inside edges of the ceiling joists, placing a staple every 6 to 8 inches. Continue placing the insulation between the joists until you've reached the other side of the ceiling.
Move on to the next set of ceiling joists, and place insulation between them, using the same method, until you've completely covered the ceiling.