I let my wife get on the bike with the kick stand down. That way you don't worry about your footing or the weight shift as the passenger gets on. I also have the front brake on when she gets on the bike. With the kick stand down and front brake on, the bike isn't going to move on me. If the bike is parked with very little lean on the kick stand I also make sure my feet are well planted.
Once she says she is ready (hooked into the intercom, comfortable and settled), then I bring the bike straight up and raise the kick stand.