I taught Vito to do this trick by first teaching him to jump on my lap when I was sitting on a chair, rewarding with a treat of course. Then I gradually put pillows under my but so I was higher and higher. Once i got to a certain height I would squat against a wall to support myself, but still had a slighly visible "lap" that Vito could aim for. Soon I didn't need to squat and didn't need a wall.
Some people have said that it helps to have a treat on a shelf nearby so that when your dog jumps up you can turn and have the dog get the treat himself now that he is up high. I didn't do this with Vito though, I just handed him the treat myself.