0. Do what Theik says
As Theik's answer suggests, using a pre-made campaign is a good idea even for an experienced GM. Learning how professional people write a campaign is beneficial, even if you don't end up using everything there.
1. Use Numenera's "keys" concept
I love the game so you gotta go and buy those adventures for yourself but here's the brief. Each adventure contains a number of keys. These are important objects, events, knowledge, etc. that the players must acquire in order to proceed further with the story.
Then come up with a list of encounters, NPCs, maps, etc. and "place" these keys on them. However, don't create any single point of failure. That means if the players fail to do something you planned for, they should have the option of getting the key from a different scene, NPC, encounter, etc. The process of making sure that these keys get into the hands of your players will ensure that they always do something meaningful and that progresses the story. Of course you can have filler scenes where no key is acquired.
Again I strongly recommend Weird Discoveries so please go and buy it (or other similar adventure modules for Numenera) Here's a quote from the book though
The door to the room where the cool treasure lies is locked, and the key is in the desk in the mayor’s ofce. But what if the PCs never go
to the ofce? The system presented here allows the GM to quickly
determine that the key might be elsewhere: in the pocket of the
wandering warrior or in the lair of the six-legged beast. The GM makes
sure it turns up at the right time (pacing). She makes sure that the
key is in a location where the characters have a chance of coming upon
it. That doesn’t mean she forces the players’ hands—just that the PCs
have a chance to fnd what they need to succeed. That actual success
(or failure) is still very much in their hands.
Numenera. Weird Discoveries. Page 5
2. Think about the game as a collaborative story instead
Oftentimes I find that players and GM maintain a very binary role in TTRPG. While this may suite certain styles of play, it's really far from the only way to play. Let me explain. GMs shouldn't just be the holder of secrets, the arbiter of everything in the world and players shouldn't just be passive reactor the what the GMs throw at them.
I believe in collaborative story telling. And I think one of the best way to make sure the game works for your player is to ask them. Be sure to ask them after each session: "What in particular did you like/dislike about this?"
Be even more specific: "I notice that you guys were tumbling really badly at this part of the game. What could I have done better to make the experience smoother?"
Do it in game as well, don't wait until the end. If you notice your players getting confused, bored, frustrated and you're unsure how to react on the spot, pause the game, get out of characters and talk. Give them the opportunity to do something cool. Here's a personal example:
I was running a game of L5R in which the characters needed backup from
the local clan to help them fight a gang of blood speakers. But the
help only comes at a steep price to honor and they were majorly
stumped. Any attempt they did in character to negotiate failed. It
went on for a while so I paused the game and asked them if they're
having fun. No one was. So we worked on a solution together. The face
character's player's admitted that he didn't know what to do but he
felt obliged to speak for the group. The fighter character's player
then revealed that she had a brilliant idea but her character was
supposed to be dumb so she couldn't work it into the narrative. We
contemplated how to tell this story together. What was important for
us is that this cool idea got executed. So we decided, OOC, that the
face character will suddenly thinks of this idea and brings it up in
game. To credit the player who actually thought of it, I rewarded her
with extra XP. Everyone loved that moment and we didn't play like
antagonistic parties but actually told a story together.
This is a back and forth experience that is made better with time and active communication. There's no hard and fast rule for it. Be sure to let your players know you intend to do this, encourage them to try it and go back, gather feedback and improve for the next session.