How to Realize Emptiness in Daily Life?

HOW TO PRACTISE?

To realise emptiness, externally we need a qualified teacher, and internally we need enough merit (or karma), purification, practice of ethics, keeping our vows and generating single-pointed concentration.
In the Tibetan tradition: first one tries to intellectually understand it, then later the realisation can ripen in the well-prepared field of our mind.

It is advised to analyse the "I" first, and then later one analyses other phenomena in the same way, for example using the "fourfold analysis":
1. Identify object of negation: inherently existent "I"
2. Determine possibilities of how the "I" exists: is it the body, the mind, both or different? (We can say, "I have have a body and a mind", which would indicate that the "I" is something different from the body and the mind, but is that possible?)
3. Is the "I" same as body and/or mind?
4. Is the "I" other than body and mind?

"While you are meditating there is an "I" (representing the Self) which appears to exist from its own side. Right on top of that think, 'the I is merely labelled'. Just meditate on the meaning of the I being merely labelled. I is a name; a name does not exist from its own side, a name is given, imputed by the mind. We can completely agree with that. This I is merely labelled; concentrate on just that. Try to feel that. This automatically eliminates eternalism, the view of a truly existent I." 
Lama Zopa Rinpoche