You should know how to play in the Philidor Position to keep a draw. This is a well known rook endgame position in which your opponent is a pawn up. Keep your rook on the sixth (if you defend with White then third) rank until White advances the pawn.
After exchanging Rooks – Stalemate
Then move your rook to the first (eight) rank and keep checking White from behind. After that if you exchange rooks it will lead to a drawn pawn endgame ending in a stalemate. (see above)