Pets love to investigate kitchen counters, searching for food or anything else that's interesting. Even small dogs can find creative ways to get onto these platforms and have been caught on camera pushing chairs into place to give themselves a boost. Cats have no trouble hopping onto counters and love to use them as elevated perches. There are several approaches you can take to discourage this behavior. The best approach is one that does not require your presence, though if you catch them in the act, immediately let your pets know you don't approve.
Clean your kitchen counters, putting away food and washing down the surface so there are no enticing smells. In many cases this will be enough to stop pets --- especially dogs --- from getting onto the counters, as there is no motivation to do so.
Observe your pet whenever you are where you can see your kitchen counters. If he jumps on the counter while you are in the area, clap your hands and loudly tell him "Off!" This will discourage him from jumping up while you're around, but most likely won't keep him off the counters otherwise.
Make a rattle can by placing eight to 10 pennies in a soda can, then taping it shut. Tie a string to the rattle can and place it on the bottom of a stack of soda cans. Tie food to the rattle can and place the food near the edge of the counter. When the food is grabbed, the cans come tumbling down, startling but not hurting your pet.
Use a training device that is designed to make a loud snap and flip into the air when triggered. One kind looks something like a mousetrap with a large paddle on it. There are other types available. Set several of these and place them on the counter, then carefully cover them with a sheet of newspaper. When your pet triggers one there will be a loud noise, the paper will jump, and the other snappers may also be triggered. Your pet will want to avoid the area after such an encounter.
Place a mat, such as an inverted automobile floor mat or a special pet training mat, on the kitchen counter. The surface of these are covered with tiny bumps that make walking there uncomfortable but not harmful for your pet, and she will quickly leave.