ESOP - Exercise and Sell-to-Cover

This is somewhat new to me so please forgive me if I have a misunderstanding or use wrong terminology.

I have an employee stock option plan that portions are starting to vest and I’m considering starting to exercise them. So my question is how would I implement a Sell-to-Cover transaction?

Do I just exercise all of the vested shares that I would like to exercise then turnaround and sell the shares required to cover my expense? Or is there a better way to go about this? Thanks.