This is actually a fairly easy exercise conceptually but with a lot of mileage in practically.
Take a standard or something, for this example I'll use a Blues because it's easier to explain.
You'll only be playing 8th's and starting the scale on any chord tone. Ideally not the root though. So I'm going to start on the 5th.
First chord Bb7. Starting on F, you'll have F, G, Ab, Bb, C, D, Eb, F. That leads us to an Eb7 chord in bar 2, where you should aim to start that chord on the first available scale tone of that chord. Which in this case is G. So that bar will be G, Ab, Bb, C, D, Eb, F, G leading to the next bar of Bb starting on the Ab and so on.
It helps to start on the lowest available note all the way up to the highest and then back down etc. Do the same thing on different chord tones but you'll get into the habit of being able to navigate through changes a lot more linear. That's just one set of scales available on the form, when you mix and match the other scale choices then the exercise becomes limitless.
You can also mix this exercise up and find some sort of common tone for all the chords. Let's take the note C in our Bb blues and start every scale from the note C. You can reduce this more and only play the first 5 notes of the scale. On Bb7 you'll have C, D, Eb, F, G, F, Eb D. Moving to Eb7 you'll go C, Db, Eb, F, G, F, Eb, Db and so on.
That's just the tip of the iceberg, you can change rhythms, directions, intervals etc but it's enough to get you thinking and exploring.