how to practice songs with the rythm

Hello. So lately i have been in a "band" and we have been playing acdc's "back in black". So we thought we were really doing it when one day a man came in the repetition room (probably tired and annoyed of hearing us play bad and off time) and he started explaining how we were doing everything wrong. Me and the other guitarist weren't listening to the drummer's tempo and obviosly the song wasn't played on time.So when I got home that night I wanted to practice the song again, but this time to actually practice is it with the rythm ( aka with the drums played on youtube ). But I still can't get it quite right and I've been raging at myself for messing up. I can't really keep a tempo with my foot taping the floor while playing the song. So if anyone has some kind of exercise or whatever for fixing this and for practicing songs with rythm please awnser the post. Thanks!

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