I can't explain how Kepler did it first, but I can attempt to go through a derivation. Hopefully it will be clear: I don't have the skill with the new latex tools to do graphics yet.
Given:

where G is the gravitational constant and M is the mass of the attracting body.
p is the semilatus rectum, the distance from the attracting focus to the ellipse perpendicular to the direction to periapsis, and is equal to
a is the semimajor axis,
b is the semiminor axis and is equal to
e is the eccentricity,
P is the period,

is the position vector from the attracting body

is the velocity vector of the satellite

is the true anomaly, the angle from the closest point (periapsis) to the position vector

is the angular momentum, is constant for the orbit, and is equal to:

and
The first steps aren't going to make sense without a picture. They take the angular
momentum vector, and geometrically rearrange the terms getting:
or

(1)
Looking at the differentially small area swept out by the r vector as the satellite moves through a differentially small distance, you get

(2)
plugging (1) into (2) and rearranging gives
Integrating that over a complete revolution,

radians of
gives
where pi*a*b is the area of the ellipse.
From the geometry of the ellipse,
Combining that with the definitions of h, gives:
rearranging once more gives:
If you want to look through where I got all that from with pictures:
Vallado.
Fundamentals of Astrodynamics and Applications pages 24-30
...fingers crossed that the Latex worked...
EDIT: not too bad... three edits