Teaching your dog to jump on command - and only on command - is a great way to v while still letting him jump from time to time. The dog will be very motivated because it is an action that he already enjoys. The act of jumping is rewarding in itself.
Positive Reinforcement - Approaches to Teaching Dog Tricks
Positive reinforcement is in essence, rewards for desired behaviors. This basically requires immediate, tangible rewards for the target behavior. For example, if you want your dog to jump on command, you would reward him each time that he jumped when given the direction.
It is important to note that you do not want to reward him for jumping without the command. The dog has to make a clear connection between the order, the action and the reward. This helps your pet learn how to think in terms of cause and effect and gradually, the skill will be mastered.
Prompting - Approaches to Teaching Dog Tricks
Sometimes a dog may not make a connection between a command and a behavior right away. There are times when he needs to be prompted to help him understand. Prompting can come in several different forms but many dog owners like to use physical prompts to help their pets along.
A physical prompt is quite simple. You just help the dog complete the action. For example, if you want your dog to learn the command "sit" you would press on his backend, helping him sit down right after making the order. He would still receive a reward for sitting even though he was helped. A few practice runs with prompts are usually all that is necessary.