I agree with Brian 100%. Practice is the key to mastery of anything. The only thing I can add is that it would also help to teach by example.
By this I mean that the instructor should be
a living example of what he/she teaches to the student.
Today I am an Aikido instructor, when I had now started Aikido, I found that mimicking and exemplifying the Aiki qualities and technical form of my instructors was of great help to me in understanding the form and the feel of the techniques.
Also, I believe that being a good uke is a key to learning, because in receiveing the technique, one gets a clearer understanding of how it affects the other person when you are doing it.
I hope this helps.