Teaching them not to jump on people

Does anyone have any ideas on teaching my one dog, miller, from not jumping on people when they come overe. He as a rescue, so I was not properly able to train him from the begining. I would like to stop this behavior, because not all people like it. Any suggetions would be appreciated.
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Does this happen only when they first come in?

You could make coming in boring..enter the house over and over, and over so the front door is nothing special.

Part of teaching the dog is teaching the humans. If you have family members, have a training session with them that he only gets attention if all 4's are on the floor, then he gets petted/treats etc. have them turn their body away if he jumps, hopefull they are fast enough so they don;t get dirty.

Say the words un ahh...like no no....off, sit...good.

A leash handy at the door, step on the leash so they can't jump up.

Practice Practice Practice...I am good for awhile, but then give up, and if I know someone is coming over usually confine the dogs to the kitchen behind the gate...they can still see the new people but can't interact right away.
Thanks Daisie. Training is tough, because its just me......and 2 dogs...he loves to jump when they come over. He craves their attention.....someone new!!
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