Personally I like to ride solo - then there are no worries. There is always someone around that would like to experience what its like to ride on a motorcycle. And when that time arises - they have rules too!.
Preparing the passenger
A passenger's ability to relax starts with the rider's preparations. Knowing that a rider has prepared their motorcycle to carry a passenger is reassuring. These preparations include ensuring that the motorcycle is capable of safely carrying two people and adjusting the suspension according to the owner's manual.
Give em the rules don't assume they know these things.
Protective Gear: Ensure that the passenger is properly attired, with helmet, boots, jacket, pants and gloves. You should want the passenger to have the same protection that you have.
Rider Mounts First: The passenger should wait until the rider indicates they can get on or off the motorcycle. This ensures the rider has control of the bike before the passenger adds or removes their weight.
Left Side: The passenger should mount or dismount the bike from the left. They should step up on the left foot peg, putting their weight over the center of the motorcycle as much as possible. In this manner, maintaining control of the motorcycle will be easier for the rider.
Feet on Pegs: Once on the bike, the passenger must keep their feet on the pegs at all times (even at stop signs) unless the rider indicates otherwise. Taking feet off the pegs causes the motorcycle to be less stable and more difficult for the rider to control. If the passenger has their feet off the pegs while at a stop and the rider moves off unexpectedly, the passenger will most likely fall back and grab for the rider or even fall off the motorcycle. In either case, the result will probably be unpleasant.
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Ok you are ready to ride now............
Braking: Let your passenger know that added weight will cause the motorcycle to handled and stop differently. Pick a clear section of straight road and practice several quick stops. This lets both rider and passenger become accustomed to stopping the motorcycle. Also eliminates helmut knockin.
Weight Shift: Explain that the passenger's weight will invariably shift forward while braking. The passenger should place their hands on the rider's thighs. If all else fails, they can squeeze the seat with their legs and lean their chest on the rider's back. The important thing is that they should never place their hand(s) on the middle of the rider's back. This concentrates the passenger's weight into a small area and makes it harder for the rider to maintain control.
Leaning: Explain that turning a motorcycle requires leaning (at speed) or counterbalancing (slow speed U-turns). This is particularly important when dealing with beginner passengers, to prevent them from being startled or frightened, panicking and causing loss of control. Move with the motorcycle; no more, no less. This is particularly important while turning or cornering. Using the rider's hips helps the passenger stay centered with the rider and the motorcycle.
Turning a motorcycle under control requires keeping the total vehicle weight (motorcycle and people) under control. Changes in placement of that weight causes major changes in the stability of the motorcycle. Passengers should hold on to the rider's hips; the rider typically remains in line with the motorcycle thus making a good reference for the passenger.
NOTE: Since unexpected passenger movement can cause total loss of control of the motorcycle, people who are not in full control of their faculties or are unable to hold on with their own strength should never be put on a motorcycle.
Take breaks: Many motorcycle seats are not designed with passenger comfort in mind and different people have different levels of tolerance. Breaks allow for both rider and passenger to get circulation running again and to enjoy the scenery.
Conclusion
A good passenger moves in sync with the rider, seemingly becoming part of the motorcycle. This allows the rider better control of the bike instilling confidence and permitting both the rider and passenger to relax and have fun. Sharing this type of experience is fun and forms a big part of motorcycling. It all starts with the rider who is properly prepared and in control.
And NO Wiggling....