To train humans the number one tool is fear.

You take the one thing humans fear the most - DEATH - and make them feel that death is imminent if they do x, y or z. 

Once you tell them they might die you then hammer them with messages that will compound that message. Eventually, after just a couple of weeks, you have passive, obedient humans that do exactly as they are told EVEN IF it no longer makes no sense.

Listen to the short episode from Alan Forrest Smith's How To Train A Human.