How do we find the subkey out of a differential cryptanalysis?
The key does not effect the cipher' differentials threw the equation (x+k)+(x'+k)=x+x' (the + sign means xor)

How you can yes the key is X1+k=x2
And threw the xor k=X1 +x2

X1 is the value beffor the xor with the key value k. X2 is the output of X1+k

To make this attack work beffor you must find a differential for the two input pairs threw a chosen plaintext attack x'+x= D1 (differential 1)
Then the corresponding cipher text outputs y'+y=d2 then you follow the differential path that you have made. (Threw this attack you can drop one round as once you found 1 key then the other key must also follow suit to be able to get the cipher text wanted)

To lower the probability of the correct key you repeat this process with a new path and a new chosen plaintext. If keys match between the two keys found then the probability goes up.

If this doesn't help try http://www.theamazingking.com/crypto-diff.php

And 
http://www.cs.cmu.edu/~hannes/diffLinAES.pdf

Some defenses against DC is adding more rounds or by trying to get differential uniformity for the s-box.