What works for me is to praise every time I see Tucker going outside. My phrase is "Hurry Up", so anytime I see him peeing outside, I say "Good Hurry Up!" in a happy voice. This also works to get him to go when I want him to. For pooping, I say "Good Poop!".
Edited to add: Tucker was really easy to house train; I used the crate method, which helped three-fold: one, he's crate trained, and two, he's house-trained (at least for pottying), and three, I can get him to pee and poop within a couple of minutes of going outside.
Edited to add: Tucker was really easy to house train; I used the crate method, which helped three-fold: one, he's crate trained, and two, he's house-trained (at least for pottying), and three, I can get him to pee and poop within a couple of minutes of going outside.