I am driving a 2002 boxster s, but I am pretty new to manual transmissions. For maximum acceleration, at how many rpms should I shift to 2nd, 3rd, fourth, fifth, and sixth gears? Also, at what points should I shift for normal driving?

You can shift at whatever rpms for normal driving, the less rpms the less power you have and the less gas you waste.

Shift at the REDLINE on the tachometer. I believe its at 6800 Rpms