First, get your dog's attention and put your motivator (toy or treat) in your hand.
Show the motivator to your dog and move it up and down along with your hand motion.
(Make the motion of shaking your dog's hand and they will catch on to what you want them to do.)
As soon as your dog lifts their paw up, grab it and say "shake" or "paw" while doing the motion. Praise them for lifting their paw and eventually they will shake your hand just by using your hand signal.
Remember, repetition, repetition.
The videos below show "shake" with motivator, then just saying the word "shake", and lastly using only a hand signal.
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