I was taught TDD on the job via pair programming and really enjoyed it that way.
Firstly you need to go through all the code and put in place a usable testing framework, with stubs as needed, so that you on your machine can run one assert 1==1 test in say 50% of components (not modules just areas of the system)
then make sure that there is a means to control code promotion (this can be social butsimplest way is only one person per component can merge to master and they must abide by these rules:
1. No code passes without passing all unit tests 2. No code passes without code review
oh and the best example of this is subversion where (forgotten his name) simply code reviewed every patch for six months till everyone just took code reviews as the norm
so you will have to do that too
Tl;dr
put in place right now a unit test framework with examples in strategic places around the codebase
ensure you code review every checkin and refuse to pass those withoutgood enough tests