Go to the bathroom on a regular schedule, such as every 2 hours. Do it even if you don't feel like you need to. That way you'll prevent your bladder from filling up too much and overflowing.
If you feel the urge to pee before the full 2 hours are up, try to hold it in for just 5 minutes more by tightening your pelvic floor muscles. Over time, you should be able to have longer and longer periods of time between bathroom visits.