Touch the tip of your tongue to the roof of your mouth just behind your teeth. Add vocal cord vibration as you release.

Americans pronounce discovering as duh-SKUH-ver-uhng (/dəˈskʌvərəŋ/). Stress falls on the second syllable — keep everything else short and quick. You'll hear it in sentences like "I enjoy discovering new artists on streaming platforms".
Record yourself saying "discovering" and play it back. The mic stays on your device — nothing's uploaded.
4 syllables, 9 sounds. Tap a syllable to jump to its row, then explore each sound's mouth shape and how it's made.
Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Raise the back of your tongue to touch the soft palate (velum). Stop the air, then release.

Relax your lips, jaw, and tongue completely. Drop your jaw slightly and keep the tongue neutral.
The textbook way isn't wrong — it's just not how anyone actually says it.
Stress falls on the second syllable, not the others. Stretch SKUH — keep everything else short and quick.
Don't pronounce the first syllable too fully. The unstressed syllable reduces to a schwa — the lazy "uh" sound — in casual speech.
Americans use a relaxed retroflex R — the tongue curls back rather than rolling. The R is one continuous sound with the vowel before it, not two separate sounds.