Using leg drive
When receiving a hard-driven serve, your passing platform should remain stable.
The natural rebound of the ball from your arms will provide plenty of force.
For a softer serve, you need to use some leg drive when the forearms contact the ball (take a look at the picture). Imagine you are sitting on the edge of a chair as you get into proper passing position.
As you contact the ball use just enough power in your legs to stand up.
Receiving serve with the hands
With the rules change more and more players receive serve with their hands. The current rule allows a double contact on any first team contact, including the use of the hands. The previous rule allowed double contact of any first team contact with the exception of hand contact. This change caused that more and more players receive serve with their hands.
To receive serve with your hands, position your arms above your shoulders. Move to the ball just prior to contact with a serve to avoid a held ball. Contact with the ball should be only accomplished only with the finger pads.
Keep in mind that the rules of volleyball allow a double contact, not a lifted or held ball.
The most common errors
A common error inexperienced players commit is referred to as praying. Prior to contact, the player brings the joined hands up near the forehead (praying position), then drops the arms near waist level to contact the ball. Players are often unaware that they make this mistake and find it hard to correct. To correct this ask from your players to keep their arms extended and if they can’t bend, they won’t develop the habit of praying before the pass.
You know what you are talking about. I found it very difficult to learn to pass, particularly on serves. Once you develop a poor habit it just won’t go away!