I made a template (you can probably find one online, but I just made mine). I wrote in cursive all the letters of the alphabet on a piece of notebook paper. I laminated it, then gave it to my daughter and showed her how they were formed. I gave her a wet erase marker (vis a vis type pen) and let her trace them. I had her do that for awhile, and every now and then she would check in with me if she forgot which direction to go, etc. Then I bought her some simple cursive copywork books (Pentime, sold through Rainbow Resource) and I started in book 3 I think. That gave her a little more instruction, but basically it was practice. She did books 3 and 4 and then decided she didn’t need those anymore and she could just write. So she essentially did it on her own.
I’m planning on following a similar course of action with my other two.
HTH