The Handwriting Without Tears Program designed by Jan Olsen is fantastic.  It teaches kids a wonderful way to construct letters in a very kinesthetic way - perfect for most kids!

She uses core shapes and builds all letters from there...the "Magic C" is the first shape the kids learn along with a fun song.  I hightly recommend this program as it's making headway into many school districts because of it's proven success.  Both my girls have lovely handwriting and it's because of this program.