Hi,
Step 1: analyze the signal and see if you can determine what frequencies are to be kept and what frequencies are to be discarded. FFTs as well as possibly short-time Fourier transforms will be helpful here.
step 2: design a filter. start with a first order Butterworth lowpass filter, with a cutoff frequency that is between the frequency you think should be kept and the frequency you think should be discarded.
step 3: analyze the filtered signal the same way you analyzed the original signal to see what changed. Also play it back to hear the difference.
step 4: try some other types of filters to see if you can get something better than a 1st order Butterworth. e.g. try higher orders, different cutoff frequencies, and different filter types.
For more information, refer these links.