I'm not sure what you mean by "derive".
For a more mathematical and geometric description of the super Poincaré group in general dimension you could check out
- Freed, Lectures on field theory and supersymmetry (Lecture 6);
- Freed, Five lectures on supersymmetry, AMS 1999 (Lecture 3);
- Deligne and Freed, Supersolutions [arXiv:hep-th/9901094] (Section 1.1), which can also be found in Quantum fields and strings: a course for mathematicians;
plus the three additional references given for super-Poincaré group at nLab.
For the 4d case see also
- Costello, e.g. [arXiv:1401.2676] (Section 1.1).