he learned it from studying the 2nds hokages notes the 2nd invented minato made it better
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Minato Namikaze's (Fourth Hokage's) teleportation technique is called the Flying Thunder God Technique or Hiraishin no Jutsu. To do this, the user needs a special seal to mark the destination to go to. After that the user enters a dimensional void that transports himself to the location seal in a blink of an eye. Minato also applied the seal to weapons. He can immediately teleport to that person if he gives the weapon with the seal on it to him/her. Minato can also put the seal on an area that has been touched, like his opponent or features around his opponent. If the object applied with the seal touches the ground, the user will immediately know where everyone close in range to the seal. This effect makes it very suitable for spying or surveillance He can always arrive next to the seal no matter where it is. This jutsu requires no chakra making it unique because of another seal emitting the same chakra as the user. It is this technique that made Konoha successful in winning the Iwagakure- Konohagakure war.
Demonic Soul Sealing Technique
Episode 87 close to the end of the episode as a flashback.
Minato Namikaze, Leaf's Fourth Hokage, husband of Kushina Uzumaki and father of Naruto Uzumaki, died during the sealing of the Kyuubi (Nine-Tailed Demon Fox) on October 10th after Madara Uchiha, leader of the Akatsuki, forcefully extracted the Fox from Kushina. The sealing jutsu that Minato had to use required his life, therefore, he died.
The Jutsu that Minato(Naruto's dad) and Jiraiya wanted naruto to master is the full 9 tailed transformation of the fox. Just as how Killer Bee has full control and a mutual relationship with the 8 tailed Ox Bijuu, Minato wanted Naruto to master the jutsu.Naruto having full control(if at all possible) of the nine tails power would give him a chance to take on Uchiha Madara.