There are a few ways I taught myself "both side technique"...
First off, I was teaching group of people the basic vaults (Speed Monkey Lazy) because they lead into other ones (Monkey leads to Kash, Dash, Kong, Simple, etc. Speed leads to Turn and Lazy, Lazy leads to Flare techniques)
So anyways, to the point this time... While teaching them I stressed the importance of learning both sides and how I'd actually not followed up on that... So I got down with them and started teaching myself the other side while they were learning the vaults... So basically, I didn't "Intimidate" the youngsters by looking at least decent while vaulting...
So I had the chance to have an excuse for being terrible lol! helped a lot and also helped me teach them because I got to see if my steps and explanations were correct
(My explanations were to break it down into segments and basically do an add on each time or each 3 times... (Start by just getting up, then get further, then further, then over, basically...)
Overly long story short, just do it the same way you learned how to vault on your dominant side (well that worked for me at least {Everyone experiences PK/FR/TR differently}
-Kyle(Rage)