1. Hold one bean bag in your dominant hand while standing, facing a wall, about a foot away.
2. Drop the bag. There, that's over with. (You'll be doing it a lot.)
3. Pick up the bag.
4. Toss the bag from one hand to the other, keeping your elbows loosely at your sides, until you consistently have it arcing at about eye level before descending to the other hand.
5. Do that 100 more times.
6. Hold one bag in each hand (drop them once, if you like).
7. Toss from your dominant hand and, when the bag is at the top of its arc in front of your eyes, toss the other bag. Catch them both.
8. Repeat without pausing another 100 times.
9. Hold two bags in your dominant hand and one in your other hand. Toss the first, wait for the top of the arc and toss the second, wait for the top of the arc and toss the third.
10. You're juggling. Drop all the bags to celebrate.
A couple other exercises/tips worth mentioning:
- Start with your non-dominant hand for 2 balls as well (alternate which hand you start with).
- Stand over a couch or bed to make it less costly to drop a ball.
- Stand in front of a wall to notice when you're moving forward.
- For the advanced: try two in one hand (much harder than 3). Will make 3 ball juggling easier.
What does this mean?
When you can juggle you won't ever look at your hands, you just look at the space in front of your eyes and your hands will be where they need to be.
I can juggle 3 balls quite well, but I can not for the life of me juggle 4 (different pattern) or 5 (same pattern as 3, more balls). 4 is extraordinarily difficult for me. I approach it by separately juggling 2 balls in each hand (no ball swaps hands), but my left hand betrays me!
Two helpful things while learning are a) doing it standing in front of a wall, so you don't have to worry about keeping throws from going forward away from your body (common while starting), and b) doing it in front of a ledge, so you don't have to bend over so far when you drop balls (even more common while starting). Combine both if you can, makes it much less frustrating!
My father-in-law knew worked with Shannon at Bell Labs, and then MIT. (Among other projects, they made useless machines[1].) One day Shannon rode in on a unicycle. "I don't know you could do that", Marvin said. "I just learned." "How long did it take you?" Shannon: "Only about twenty minutes of practice. But it took three months to get that twenty minutes."
Back to juggling: In addition to the other advice here, I recommend balls that don't bounce (or, balled-up socks), and stand over a bed so you don't have to chase the balls when you drop them. Then you can get your twenty (or thirty, or sixty) minutes of actual practice, in closer to twenty minutes (or thirty, or an hour).
Also, like many motor skills (sports, music), ten minutes of practice six days a week trumps an hour of practice once a week, especially if you're getting decent sleep in between.
Then, in my mid-twenties, my mother-in-law gave me a juggling book, apropos of nothing. I followed the instructions, and within a couple of days, could reasonably keep 3 balls in the air. I've never gotten any better than that, but by resetting my expectations and following instructions set out for me, I was able to cross that threshold so now my kids think I'm amazing. :)
People tend to have mental blocks around things, and I've found that when you break a mental block (this happened with me and Mill's Mess) the result is fantastic. It opens up levels of creativity you never believed you had.
It also teaches you patience with yourself. Good things are possible if you're patient with yourself. If you can't get something one day, give it a rest. Try it again the next day.
I've got a couple of other skills that took me a few months to pick up -- card tricks, and beatmatching records. They're all skills that look effortless but take a lot of practice to get right.
I suspect that significantly adds to the learning curve.
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While I don't want to advocate a defeatist outlook (I'm sure if you truly plowed enough time into it you could brute force learn it), with juggling, the stakes are low enough, that maybe this is a nice opportunity to appreciate a little humility about how everyone's gifts are a little different,
and to be grateful for all the things you're able to accomplish w/o extraordinary brute force techniques
Scarves are harder than balls because their movement is unpredictable and your hands end up moving in all directions if you can't throw them well.
Find decently weighted balls (130g is standard) which will have enough weight that throws can be well controlled. Juggling is 90% throwing and 10% catching. Get the throws right and everything will quite literally fall in to place.