Exercise 15.5 (Harris, Algebraic Geometry: A First Course): Describe the tangential surface to the twisted cubic curve $C \subset \mathbb P^3$. In particular, show that it is a quartic surface. What is its singular locus?
Here the answer is given: $3x^2y^2-4x^3z-4y^3w+6xyzw-z^2w^2$ for $(w,x,y,z)=(1,t,t^2,t^3)$. Clearly, it is a quartic curve, and one can calculate its singular locus directly – it coincides with the twisted cubic curve itself.
But it does not explain anything. How to prove it without calculations? And what happens with the tangential space to the rational normal curve in $\mathbb P^n$ if $n>3$?
It's not hard to determine parametric equations for the surface. We have $$x(t) = t, \qquad y(t) = t^2, \qquad z(t) = t^3,$$ so $$x'(t) = 1, \qquad y'(t) = 2t, \qquad z'(t) = 3t^2;$$ therefore, the tangent line to a point $(t, t^2, t^3)$ is $$(t, t^2, t^3) + s(1, 2t, 3t^2),$$ and consequently the surface $S$ consisting of all such lines is parametrized by $$x(t,s) = t+ s, \qquad y(t,s) = t^2 + 2 s t, \qquad z(t,s) = t^3 + 3 s t^2.$$
(If you look at the answers to the question you linked, you can see that these equations were given as input to the computer.)
Implicitizing a set of parametric equations by hand is not straightforward. However, the problem doesn't ask for an implicit equation; it just asks to indicate the surface (which we've done) and compute the singular locus.
But a having a parametrization instead of implicit equations actually makes it easier to determine where a surface is singular. In particular,
$$\frac{\partial x}{\partial t} = 1, \qquad \frac{\partial x}{\partial s} = 1,$$ $$\frac{\partial y}{\partial t} = 2t + 2s, \qquad \frac{\partial y}{\partial s} = 2t,$$ $$\frac{\partial z}{\partial t} = 3t^2+6st, \qquad \frac{\partial z}{\partial s} = 3t^2,$$
so the tangent space to the surface $S$ at the point $\big(x(t,s), y(t,s), z(t,s)\big)$ is spanned by the vectors
$$\begin{bmatrix} 1 \\ 2t + 2s \\ 3t^2 + 6st \end{bmatrix} \qquad \text{ and } \qquad \begin{bmatrix} 1 \\ 2t \\ 3t^2\end{bmatrix}$$
By definition, $S$ is singular at $\big(x(s,t), y(s,t), z(s,t)\big)$ if the tangent space to $S$ at that point is less-than-two dimensional. Clearly neither vector can be zero, so the only way this can happen is if one is a scalar multiple of the other. Since both have the same first coordinate, this can only happen if they're equal. And then it's easy to see that this happens only when $s = 0$, i.e. the singular locus of $S$ is the twisted cubic itself.
UPDATE: I see that the problem also asks to show that $S$ is a quartic surface. If you have an appropriately general version of Bezout's theorem, you can do this by finding a line that meets $S$ transversally at exactly four points, though I don't immediately see a nice choice of line you could use.