In the beginning stages of writing, children typically learn uppercase letters first, then lowercase. It is also very typical that they reverse letters, especially the letters b, d, g, p, q and s. Some children will do this into second grade. If you notice your child do this, simply model the correct way to form the letter; you can even hold their hand and guide them as they write it.
Some fun ways to practice letter formation is to put salt, salt or sand on a baking sheet and have your child create the letters within that space. If you are feeling brave, you can use pudding or shaving cream right on the table! If you would rather avoid the mess, simply put hair gel or shampoo in a ziplock bag!
At this age children will show a dominate hand. If your child is still switching hands, you can hold a pencil at your belly button and ask them to take it; the hand they reach with is typically the dominate one. Even if your child is ambidextrous, they will still favor a particular hand for writing. My husband for example, writes with his left hand, but plays right handed for all sports. See the resource link below for tips on how to hold a pencil.
Your child will learn to use kid writing in our kindergarten program. It is a systematic approach to phonics, journal writing and writing workshop. It helps your child understand the process of sounding out words, applying letter/sound relationships and using the conventions of writing. We learn the process of thinking of our story, drawing a picture with details, and then writing our story. Students learn to use a "magic line" as a place holder for unknown sounds in a word, kid writing helpers to recall commonly used words, and meatball spaces between our words.