Measure and mark off parallel lines every four feet in the existing concrete or asphalt with spray paint.
Cut 1/4-inch wide grooves at least five inches deep in the concrete with a wet saw. Also run a perpendicular groove every 12 feet to accommodate jumpers and electrical elements.
Clean out the grooves with a power washer to remove any debris that may be left in the grooves.
Lay out the electrical heating elements in the grooves. In any place that you need to go from one area of concrete that is separated by grass to another, use a jumper to connect the two without losing the charge.
Place backer bars over the top of the heating elements to help with the transmission of heat to the caulking above.
Caulk the grooves with a special heat conducting caulk.
Hook the heating element up to the power source.