Half of successful trailer backing happens before you back: the more you can set yourself up beforehand so you are backing straight &/or minimally turning to the drivers side instead of sharp turns &/or turns to the passenger side (i.e. blind side) the better.
Once you have a good setup, then look in your drivers mirror &/or over your shoulder out the drivers window at the trailer tire.
Visualize the line or curve the trailer tire would follow to get where you're wanting to back it to.
Begin backing slowly, move the bottom of the steering wheel in the direction you want the trailer to move: i.e. need to make a sharper turn to the drivers side, turn the wheel clockwise (for left hand drive vehicle)
Continue backing, continually making steering corrections to keep the trailer tire on the desired line/curve.
If you get too far off, pull forward and steer to get the vehicle and trailer back onto the desired path.
Repeat until you arrive at your destination.
The shorter the hitch to trailer tire distance, the faster it will swing, so go slower, and turn the steering wheel less, but try to catch deviations from the line sooner.
The more you can practice, the easier it will become, and the more comfortable you will be.
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When loading the trailer you will want at least 10% of the total weight as tongue weight (I.E. trailer and load is 1000lb, minimum tongue weight should be 100lb). Max tongue weight might be 15-20%, this becomes more important the heavier the load: your 5000lb towing rated hitch is probably only rated for 500-650lb tongue weight. Too heavy on the tongue also sags the rear of your tow vehicle; you can get helper springs or air bags; that's not nearly as bad as too little tongue weight: that causes trailer fishtailing: