When I ask my dragons to perform a task they haven’t done before, I break it down into step by step instructions and ask them to remember them so they can do that on their own.
There is an amazing post by Saan here with detailed instructions on how she went about training her servitors How to Engorge Objects With Sapien Fields? (Servitor related) - #6 by Saan
This should provide you with plenty to work with! 
Let us know how it goes!