Two players facing each other with one ball between them.
Player one overhand passes the ball high above his/her head before forward passing the ball to their partner.
Player 2 then receives the ball by setting the ball high above his/her head using a overhand pass before returning the ball to player 1.
Take it for granted that at the beginning players will find it difficult to rally for a long period of time so start from short distance between them.
As players get better at this drill increase the distance between them.
New hitters rarely miss because of their arm. They miss because of their feet. Build a reliable approach, then time it with your setter.
When your hitter gets stuffed, five teammates standing and watching is how you lose the point. Good attack coverage turns a blocked ball into a second swing.
Coaches spend hours correcting arms in serve receive when the real fault is almost always the feet. Fix the movement and the platform fixes itself.