Generally here are the steps.
Download from kernel.org
https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.10.7.tar.xz
Extract the kernel
cd /usr/src/linux-3.10.7 (or whatever)
make localmodconfig
if you need to change the default settings "make menuconfig"
make bzImage && make modules && make modules_install && make install