My brother has dysgraphia. We were homeschooled, and my mother taught him to write his letters using a variety of mostly-kinetic exercises. If you pick up any of the Montessori early education books, they'll have a bunch of ideas.
https://www.amazon.com/Basic-Montess...F9SD7MKTGV8HE6
https://www.amazon.com/Teach-Me-Myse.../dp/0764127896
https://www.amazon.com/Teaching-Mont...KB5FKS0TWA45TX

I start the kids out with sandpaper letters and Play-Doh letters and with paper that has lines to trace--pre-writing exercises that show them the shapes of the letters and the movements required to create them.
https://www.youtube.com/watch?v=W1D5u5LVuOk

I don't force anybody to participate. When there's one kid who doesn't like to join in, I focus myself, with fascinated excitement, on the activity, and draw the other kids in. Once they're doing it, the non-participant just HAS to get in on the action!

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