Depends how you want the dog to move. If you're laid back about it then you can just use a lure and have the dog walk forward and turn in a tight circle. If you want more competition type movement, IE: the dogs hind end is the primary movement with more pivoting on the front end, then you'll need to teach the dog hindend awareness by teaching them to pivot. I use a stock type rubber bucket that I purchased at TSC that's about 8 inches or so high (give or take). Essentially you teach the dog to place their front feet on the bucket while its upside down, and teach them to pivot both ways on their own and in a heel. It sounds goofy, but it teaches the dog how to move the hindend when asked, while only spinning the front feet. Therefore, leading to being able to teach the dog to move in a heel sideways, backwards, and pivot from a comefront to byheel and vice versa. I used a lure and clicker with heavy rewards for place training (my command for putting the front feet on the bucket was "place" but now when Dante sees the bucket he runs right over to it and puts his front paws on it, he knows what's its for).
There are videos out there on it. I researched here on the forum, but I'm pretty sure Michael Ellis has tons of videos on this if I'm not mistaken.