I learned to print letters, but on moving to a different school, was made to feel stupid for not being good at cursive - I avoided anything where the teachers could criticise my handwriting, which they did frequently. I dropped out of a penpal scheme because the writing of the other children was completely illegible in cursive, not just to myself, but to my mother (who wrote in cursive) and the organiser.
Fortunately, in the last year of Juniors, I had a teacher who either didn't agree or thought it was a battle not worth fighting when learning was more important and my printed writing was perfectly legible.
Aged 15, I suddenly began writing in clear cursive/joined up as ideas came fluently in essays. I've now got very good handwriting - and I can sign write, create displays and make anything I do for adults and children attractive but understandable, something that cursive really can't when so many have literacy difficulties or dyslexia.
Don't force little children to try and do something they aren't physically ready for. It's more important for the ideas, knowledge and understanding to shine through in the written word, not conform to an archaic idea of what looks 'right' and let the meaning slide away.