I am a strong supporter in either picking your pup up each and every time you want them on the furniture with you and of course teaching them that jumping down is a no no (place them on the floor when you get up.) The other solution is to purchase pet steps or use a little foot stool pushed up against the furniture..  These steps are available at www.westcoastpetsupply.com

A life time of jumping is certainly not good for little joints, plus the real possibility of landing wrong and causing a severe injury.