Do the initial make-up on the lower run of chain, where the rear mech arm will give you slack to work.
Make sure the link is clean.
It should make up partially and be visibly partially made up. The groove in the pin should be partially engaged in the slot of the side plates.
Run it round to the top run of chain. It will clatter a bit through the cassette.
If the bike is on a stand, I've always found firm hand pressure on the pedals against a braked back wheel to be sufficient.
Otherwise, straddle the bike and holding the brakes on, apply pedal pressure to tension the chain.
It if pingfuckits at this point, then the initial makeup was not done properly...