Just get a sterile funnel and slowly pour your leftover beer into a sterile bell jar. Try to get as little trub as possible in the jar, but it wont hurt anything if you do. After a week, you'll see a thick, darker brown layer of trub on the bottom, and a thin, lighter layer on top of this. This lighter layer is your yeast. Carefully pour the contense of the jar into another sterile jar, being careful not to slosh around the original jar when transfering it. Again, try to keep the darker trub out of the second container. Do this every 7 days until all you have is the light sediment (your yeast) on the bottom.
This is a condensed version, and there is a very nice thread on this site with pictures to show the whole process. Happy Homebrewing!