Here's the first step: Create an Amazon.com account for Kindle Direct Publishing.
Next, make sure that your novel is in a format that will conver to Amazon Kindle. Here is a list of acceptable formats:
Next, format your book for Kindle. Here are the instructions from Kindle Direct Publishing:
I'll go into more detail about how to format your book for Kindle once I figure it out myself. I'm in the process of doing just that. I'll post an update as soon as I figure it out, then we can go onto the next stage of actually publishing your book on Kindle.