Log into AngelList, create a profile, and apply to the incubator programs you see fit.
Remember to document all the responses that you make in the applications in a notepad or something, because most of the questions will be asked again. Even if some of the forms are reused, some incubators reorder the questions causing some of your original responses to be cleared. You will definitely encounter different incubators asking the same questions.
Also, some incubators require you to make videos of your founders and the products. It'd be good to create 1-minute videos for both founders' introduction and product introduction.
Production quality is not too important. What incubators want to see is that you know what you are talking about, and you are passionate about your products.
A elements of a good founder introduction video should be:
For each founder, education, talk about role in the company, previous experience
A good flow of a product introduction video should be:
1. Who each of the co-founders are, and if possible, your expertise related to the problem you are trying to solve.
2. The problem + blend in customers (We're solving X for Y)
3. What your product solves.
4. How the product actually works to solve the problem.
Example of founder introduction: http://www.youtube.com/watch?v=BHiEqZr1pzE
Example of product introduction: http://www.youtube.com/watch?v=-EutIE0mF5A