You may be blessed with some level of ability by nature - like some people can dance and others can't. If you can't feel a beat, you are at a disadvantage.

However, you can train yourself but it's all just practice - co-ordination between hands is all practice - feeling a groove comes from jamming to tracks or playing with other musicians. If you don't want to play with other people until you improve, try getting some coltrane records or something without a guitar part, and then put together and play a guitar part for it. You'd have to 'feel' the music to do that, right?

:D