Our bodies do not lie, when we learn to listen to their often subtle messages, they become our best allies. Learning to pay attention to the feelings in our bodies as we chat with friends is a good way to begin to use this skill in daily life.
It has many benefits, firstly it quietens the mind's chatter so we actually hear what is bring said. This is really nice for the other person who will feel this consciously or subconsciously depending on how aware they are.
When we are listening to our on bodies as we speak we also tend to become more conscious of how the other person is listening (or not). I find this to be true even when I'm speaking with someone on the phone, by listening fully I know whether they are really 'with' me or not.
Listen fully and you will become aware when you are listening with an agenda, notice when you are just waiting tor them stop talking so you can have your say. When you notice this relax listen to your body and give them your full attention, you will find as I do (when I remember) that this way of listening is much more satisfying for you both.