I had to give Frag the sink or swim option; I picked him up at 65lbs and dropped him in. He freaked out for a while, but everytime he showed possible calming, I treated him, and gradually worked up to getting the water running. We did this just last week everyday, and by the last day (after a muddy dog park day) he was able to get a full bath without protest.
Of course, it ALWAYS helps if they're worn out. My advice; take the dog to the park or for a nice run for a couple hours/miles beforehand.