Positive reinforcement style training is based on training your dog on the desired behavior with the expectation of a reward. The idea is to teach your dog the command by showing them that they will be offered some type of positive reward at the end. By doing this, your dog will learn that the desired behavior results in something they enjoy.
Positive reinforcement training is free of any harsh verbal and physical punishment. The dog will learn that ignoring your command simply results in them missing out on a reward, therefore encouraging them to follow through without any punishment needed.
Your reward process must immediately follow the desired behavior and should continue to be implemented over time once the behavior is learned. Many people also pair positive reinforcement training with clicker training, so your dog will always respond to the sound of the clicker going forward.