I was taught this:
Imagine two sticks.One end of each stick attached to the control column, the other end of each stick attached to the corresponding rudder pedal
As you moved the control column to the left, the left rudder moved forward, as you moved the control column to the right, the right rudder pedal moved forward
Automatic coordinated turns
That is how to do it.....
One does not follow the other, they both move together
It is like marriage, practice makes perfect