myself, i just go for it. when i am training new babies, usually is a game of catch. i will get one out, holding it in my hand gently untill it quiets. (rerassuring it and praising it) once quiet, put finger under toes. they are built that gripping is automatic. once grip set, let go of bird slowly, most times they will stand still. move slow and praise birdie. after a pause, it will usually fly away again. retrieve it gently in your hands and repeat process. once staying on finger, move it toward your shoulder and "tip' it off. should stay. if not repeat process. or, during catch and release put on shoulder not finger. you will feel the toes grip on. remove hand very slowly. a few times at these and i get hand and body training at the same time. my birds come to me when they are unsure of something and know above all, being handled won't hurt them. makes clipping wings, beaks and claws much easier, handling comfort is VERY important for say... emergencies or vet handling. this is how i like to do it, use your own judgement on how you decide to train your birds. but don't combine two diff kinds of training, it will confuse them.
good luck and have fun : )