Dogspelledforward has some great advice on teaching this settle/relax position, and there's a link to the first part of this series, teaching 'wait'. Both are great for getting dogs to focus. If you have a dog that runs around, jumps on people, goes crazy when you try to get ready for a walk, etc -- these commands and lessons are for you!
http://www.dogspelledforward.com/dog-settle-calm-down
http://www.dogspelledforward.com/dog-settle-calm-down