The groomer needs to be a regular staple of their routine! So, to the best you can, try bringing your pup for visits to the doggie grooming salon every day, if possible.
If not, break down the steps your groomer would take and practice those at home! Such as touching your dog's paws here and there, touching him with towels, hair & nail trimmers as well as a blow dryer.
Do all the above occasionally but daily, and more importantly between fun games and tasty snacks to make it something your dog looks forward to!