Do you hold your pen/pencil correctly?

It seems they don't teach this in school anymore, so I've been trying to teach my kids. When you hold it correctly, the muscles in the hand and arm are allowed to work properly for either printing or writing in cursive. If you hold it any other way, the muscles are all working against each other - leading to difficulties in writing neatly, cramping (short-term) or pain (long-term), and slower writing (making taking notes in school more difficult).