For example let’s say you want to superset pull ups and dips. Decide which you want to focus more on, and do a set of that exercise. Then do a set of the other. Repeat for the desired number of sets. Rest should be minimal but make sure your form doesn’t break down too much, so it’s OK to rest for a minute or two if you need to. If you want you can do something like wall sits or lunges in between each exercise so that your upper body actually gets more rest but you can work your legs a bit.