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Yes, practice! Someone advised me when I started to lean up against a door frame and practice thrusting that way. That helped give me an idea of what the heck I was supposed to be doing. Once I practiced a bit that way, I was able to use the harness for real with no problem!

Yep, practice. Walk around the house with it to get a feel for how it attaches and feels when it's on, "Jack off" a bit to get a feel for how the harness and dildo work during "use" (don't use too much lube, you want to feel it under "load"). Practice pelvic thrusts, practice in the various positions you're thinking of using (or as close to them as you can get).

Then let your partner practice with the detached dildo for a bit.