There are several websites with free printouts you can use to help your child practice cursive writing:
Handwriting for Kids
Handwriting Worksheets for Print Practice
Handwriting Worksheets Wizard
There's also an excellent site with cursive handwriting lessons and animations that show you child how to write each letter, so he or she can view it as often as needed to help learn how to form the letters:
YoungMinds Handwriting Lessons
All of these (free) sites are listed with links on LearningReviews.com:
Cursive letter formation is easier to learn if you group the letters according to strokes: clock climber letters (a,o,c,d,g,q), swing up and down (i,t,j,r,p,s,u,w,y), loop letters (e,l,f,h,b,k,l) and hills/valleys (m,n,v,x,z). When teaching letter or shape formations, always begin with very large movements on a vertical surface (paper on the wall, chalkboard). We have better motor memory in our large muscles and joints. Use verbal instructions while you model the letter. Have the child repeate the instructions as he writes the letter large. Once a child can write the letter with eyes open and then eyes closed, go to a sheet of paper or workbook. He should have the picture of the letter in his mind, the verbal instructions memorized, and the motor memory in his arm and hand before picking up a pencil. Its easier this way for most kids!
Cursive writing is definitely all about practice, but getting kids to sit down and practice penmanship is not that easy. It's been interesting to note how penmanship has been increasingly taking a backseat as we move towards using the computer keyboard more and more. A good foundation during the early years will help your child develop a neat and legible hand for life, so it's definitely time well spent.