Itsy pees on command, if she has to go. When I have her out running around the house I periodically take her to her potty pad and tell her "potty" and she will go, if she has to. If she doesn't, she will just sit down and stare up at me like, "but I don't neeeed to go!"
Teaching it is pretty easy, just whenever they pee or poo on the pad say the word "potty" while they're going, and when they're done give tons of praise and treats. It doesnt take long for them to make the connection, if you're consistent.