You don't.
To answer your questions:
You can start earning rewards with 0 SP.
Your vote is initially worth 0$ but valuable for the comunnity (as a way of rating posts), eventually your vote will help increase the author rewards.
You can increase your Steem Power by posting and getting rewarded or buy Steem and power up (you don't have to).
Also remember to try and keep Steemit clean and try to refrain from copy/pasting articles, etc, add your comments and content.
Search about steem inside steem itself, you'll find usefull posts.
Any other initial questions drop them here.
Steem on !
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