Pivots work best when you step back instead of forward just like they do on the military. This video shows how to do a Rally pivot that is sure to keep you on feet and keep the judges from mistaking it as a turn. This isn't the only way to do a pivot, of course, but I use it because the judge can never say that I did a turn.
Once you add the dog, your training will dictate how you'll get your dog to move with you. I just say "Get in!" and my dog follows my left leg but some of my students use other commands such as "Close!", "Back!" or just "Heel" to keep their dogs in position.
