Put your dog on a stay 18' behind a jump. Walk up to the upright close enough to reach out and touch it. With shoulders facing forward, look at your dog and release him. You start moving laterally after the O in "Ok". Tell your dog to jump - or in my case - jumpjumpjumpjumpjumpjump - while continuing to move laterally but keeping your shoulders forward until the dog commits to the jump.
We got two tries. First time I didn't repeat "jump" and Ricky came with me. The second time I kept chanting "jump" and he did!