When learning how to write, it helps to be consistent in the approach to letter formation. Not only does holding a pencil correctly put less strain on muscles of the hand and arm, but learning to form letters based on the chart below can also help make writing quicker and easier to read!
The goal is to create a triangle with your fingers:
Rest the pencil on top of your middle finger.
Lightly pinch the pencil, with your thumb and index fingers.
Rest your pinky on the table to hold the pencil at a comfortable angle (to see what you are writing, and avoid hurting your hand).