You can concretely build it up from the scratch this way.
Let $D_4=\langle r,s\mid r^4=s^2,rs=sr^{-1}\rangle$. Now, $H:=\{1,s\}$ is a subgroup of $D_4$. The action of $D_4$ by left multiplication on the left quotient set $D_4/H$ is faithful, as its kernel is the intersection of all the cojugates of $H$ in $D_4$, which is certainly contained in the two terms intersection:
\begin{alignat}{1}
H\cap rHr^{-1} &= \{1,s\}\cap\{1,rsr^{-1}\} \\
&= \{1,s\}\cap\{1,r^2s\} \\
&= \{1\}
\end{alignat}
because $r^2\ne 1$. So we have an injective homomorphism:
$$\varphi\colon D_4\to S_{D_4/H}, \space g\mapsto (g'H\mapsto gg'H)$$
In order to make it an embedding of $D_4$ into $S_4$, take any bijection $f\colon D_4/H\to\{1,2,3,4\}$ and, for every $g\in D_4$, calculate the corresponding element of $S_4$ defined by:
$$k\mapsto f(\varphi(g)(f^{-1}(k))) \tag1 $$
To see this into operation, let's take $\{1, r,r^2,r^3\}$ as a complete set of cosets representatives and the bijection $f$ defined by $r^{i-1}H\mapsto i$, for $i=1,2,3,4$. Then, for example for $g=rs$, the recipe $(1)$ yields:
\begin{alignat}{1}
1\mapsto f(\varphi(rs)(f^{-1}(1))) &= f(\varphi(rs)(H)) \\
&= f(rsH) \\
&= f(rH) \\
&= 2
\end{alignat}
\begin{alignat}{1}
2\mapsto f(\varphi(rs)(f^{-1}(2))) &= f(\varphi(rs)(rH)) \\
&= f(rsrH) \\
&= f(sH) \\
&= f(H) \\
&= 1
\end{alignat}
\begin{alignat}{1}
3\mapsto f(\varphi(rs)(f^{-1}(3))) &= f(\varphi(rs)(r^2H)) \\
&= f(rsr^2H) \\
&= f(srH) \\
&= f(s^2r^{-1}sH) \\
&= f(r^3sH) \\
&= f(r^3H) \\
&= 4
\end{alignat}
\begin{alignat}{1}
4\mapsto f(\varphi(rs)(f^{-1}(4))) &= f(\varphi(rs)(r^3H)) \\
&= f(rsr^3H) \\
&= f(sr^2H) \\
&= f(r^2sH) \\
&= f(r^2H) \\
&= 3
\end{alignat}
Therefore, the permutation $(12)(34)$ is "$rs$ in $S_4$". And likewise for the other elements of $D_4$. Different choices of the (arbitrary) bijection $f$ lead to set-wise different images of $D_4$ in $S_4$.
(Btw, this routine works verbatim for every $D_n$, as long as $r^2\ne1$, namely for $n>2$.)