Till the soil in your garden to a depth of 10 inches in early spring, when the final frost date has passed and the soil temperature is steadily at or above 60 degrees Fahrenheit. Lower soil temperatures will prevent germination. Tilling helps to freshen soil and breaks up weeds.
Water the soil so that it is steadily moist to a depth of 2 to 3 inches, but so that it is not soaked or muddy. One of the best ways to do this is to water one to two days before you intend to plant. The moist soil will make planting easier and will provide water for the new seeds.
Bury soybean seeds 1 to 2 inches below the soil surface; do not plant any deeper, or the seeds will not get optimal warmth and sunlight. Space seeds at least 2 inches apart from each other; if you are planting multiple rows, plant the rows at least 24 inches apart. This will ensure that the plants don't compete with each other and will allow you to walk among your plants without damaging them.
Water the seeds two to three days after planting. Add enough water so that the dirt is moist to the touch but does not form puddles or turn squishy. If the seeds become too soaked, they will not germinate.