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Here is a video demonstrating how to teach a dog to sit politely rather than jump up when you are sitting on the couch. This can transfer into having the dog sit politely for permission to jump into your lap, instead of just leaping on you when you least expect it.
Training dogs to sit by having them "Say Please by Sitting" automatically is the foundation exercise for training focused, calm behavior. It is the primary exercise in Dr. Sophia Yin's Learn to Earn program. Watch how words are not needed. Its your actions (rewarding at the right time) that is important.
Dr Sophia Yin gives a dog training demo on teaching Leave It. She shows two different variations of teaching this behavior, building on the basic "Say Please By Sitting" exercise.