What I did was I put snickers on his leash. Opened the door, made him stay at the bottom of the stairs, and if he came up with me or to the door we would go back, give him the command along with the motion, walk up the stairs (he has one of those leashes that you can lock to whatever length you want) then say stay one more time along with the motion and walk through the door. And then I gave him a treat if he stayed
Now he looks at me and I have to pat my legs if I want him to come with me. Other wise he just sits there. He learned super fast since I have only had him for 3 weeks
I repeated it alot though. So don't give up. Hope that helped!