I start by just teaching my dog stand,
then I teach them stay,
then I combine the two,
I start a little at a time,
I will tell them to stand, then correct their feet if needed, then tell them to stay, then step in front of them, then return back to their side and release them with the release word and give lots of praise. Then I start building up the lenght of time on their stay before returning back to their side, and I work up to being able to walk completely around the dog while they are in the stay position.
Once they understand this, then I start adding more training techniques, like teaching them "step" which would mean step forward towards me, and also I teach them "back" and this is where they learn to take a step back if needed.
After a few months of training then I usually don't even have to give commands anymore, the dogs will just be able to tell from my body language what I want them to do.
I also train with stacking blocks at an early age so they learn early where to place their feet, then that training just seems to come natural to them.