It's easy to train your dog to shake hands. Take a small treat in your fist while the dog sits in front of you and offer him your hand. He will put his paw on your fist. Maybe at the beggining he will just sniff it, but in time he will use his paw. When he does this give him a treat with the other hand, not the one you keep in your fist. Try doing this many times. Do not open your fist unless he gets used doing this. Try to open your fingers a little more every day and start using the verbal command that you want ("shake", "shake hand", "give me your paw" etc.)
After a while you will reduce the frequency of treats. I know it takes time, but success is guaranteed.