Using the mirrors depends on: the style or set up of vehicle and whether can see the camper out of them or not. Reversing camera's are also a good help in this regard, but don't learn to rely on them.
BF is hopeless at reversing (you only have to look at our stone guard to see what I mean), but I can't teach him anything (frustrating), but I do direct him with hand signals. He watches my directions rather than watching the camper and it's surrounds and has learned to rely heavily on them. If we have to go backwards I'd rather direct him from outside the vehicle anyway. He gets upset if I "wander off" and leave him to it.
As far as him directing me ... forget it. Just tell me when to stop and I'm all good. Lucky thing I don't need his help very much.
I'd suggest patience / calmness / knowing when to give up for this lesson / giving encouragement where appropriate / NEVER yelling ... you want dinner and Sex for the next year then treat the lesson the same way you would foreplay (if you know what that is of course).
Kit_e