Key word to me is involvement. I'm a big fan of the adage that says; "if you tell me I will forget, if you show me I will remember, if you involve me I will learn.
I believe one of the biggest turn offs for newbies, be that mates, ya woman, a child, whatever, is the feeling of detachment through lack of involvement. Although it most conspicuously leads to boredom in children, or to the feeling of being just a passenger in women who's men folk believe they are doing them a favour my going all Tarzan and wiping their noses for them, I think the same think applies to buddies too. I think key to overcoming that is fostering the belief in the other person that they are holding their end up. More of a team rather than leader and follower.
Let them make the fire. Obviously if they're going to build one of those silly big fires that needs constant foraging for fuel you can nudge them back on track, but let them do it. Now is not the time for a brain dump showing how good you are. Now is the time to gently feed in new bits as the interest and skills emerge.
I know this is a bit of a deviation but I apply this just as much to adults
Similarly, involve them in the cooking. If they do all of it they get your gratitude social stroke / job's-a-goodun. Even if they only help with food prep you have still fostered the feeling of contribution and that you were at least in part dependent on their contribution. Stack the odds in your favour before you leave by making sure you pack some food that requires preparation [fish?].
Navigation is another factor. Does everyone know where they are and have a say in where to go next, or is it the one guy with the map telling the clueless follower we're going down there.
Once you've got an underlying feeling of team you can feed in the more specialty stuff. Build pot hangers with swing arms rather than just dumping a pot on top of coals or the static dangling of it over the fire from a tripod. It makes a big difference. Demonstrate how you could lighten your load if you know X about water procurement. Perhaps try making an oven or an earth bong .etc.
