The same way you teach a baby how to speak whatever language. The baby doesn’t know what an “apple” is until you point at it and say “apple”. Now, adults aren’t babies, so it’s easier for them to learn, but the principle still holds. For actions, you can mime the action and say what it is. Repeat for every thing that’s physically expressible, like emotions. Once you have actions and emotions, you can describe cultural things, like prayer or customs (“sit, clasp hands, murmur, eat, *happy*” would describe saying grace before a meal).
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