Hello, to train an animal the best way is to use Ivan Pavlov's methods of classical conditioning. Fran101 is correct.
When ever your dog does a desired behavior, give him a treat. With repetition your dog will be bale to be conditioned to respond to a signal, then he does the behavior he is being trained (conditioned to do) and expect a treat (reward from you). This is a very effective and used by all animal trainers.
Good luck, you will need patience and time.