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It just takes time and practice. When I started I couldn’t even do simple boom chucka rhythm while singing simple lyrics. You just have to play the song so many millions of times that your hand can mindlessly go on auto pilot. You have to know the lyrics so well that you can hear the entire song in your head from start to finish while practicing. At first it seems impossible but once your brain builds the new connections it isn’t any harder than playing without singing. Eventually you forget it was ever “impossible”. We all look for the secret tip to cure all but the answer is just more time and practice even if that means you wont be good at it for months or longer