How many steps are there? If it's more than just three or four, then carrying him for most of the staircase might be the better option right now.
For teaching a puppy (or older dog with no experience with them), to safely go up and down stairs, start with only a couple of bottom steps, blocking off the rest of them with a baby gate or the like if needed. Encourage the pup up the stairs with teats, praising and treating for each one they go up. Then, repeat the process going down. Most pups will have an easier time going up than down at first, which is why you start on the bottom. As they gain confidence and coordination, you can increase it a couple of stairs at a time. If you've got a daredevil who wants to do them at top speed, then using a harness and leash to slow them down and make them think about where there feet are is a good idea.
Also, hip dysplasia has a genetic component, with both Goldens and Poodles being prone to it, so just going up and down stairs won't cause it.