Check out these animations to help your child form letters correctly. If you have a tablet, you can have them trace on the screen to help build muscle memory.
lower case manuscript: http://www.handwritingforkids.com/handwrite/manuscript/animation/lowercase.htm
upper case manuscript: http://www.handwritingforkids.com/handwrite/manuscript/animation/uppercase.htm
lower case cursive: http://www.handwritingforkids.com/handwrite/cursive/animation/lowercase.htm
upper case cursive: http://www.handwritingforkids.com/handwrite/cursive/animation/uppercase.htm
Pencil Grip: https://www.youtube.com/watch?v=UPg9qpq6Hhg