How to properly setup HAProxy with Percona XtraDB Cluster?

Can someone pls explain to the step by step of how to properly setup HAProxy with a XtraDB Cluster. I keep getting the same error:
ERROR 2013 (HY000): Lost connection to MySQL server at ‘reading initial communication packet’, system error: 0

Hello @Narlandis

Here is the documentation for PXC and HAProxy configuration: Load balancing with HAProxy - Percona XtraDB Cluster