First off, don't get on from the right side of the bike. It's actually taller there and you have to lean over the bike. Besides it's just wrong and you'll be laughed at.
The method of using the footpeg is the way to go for us inseam challenged riders. It's called the Equestrian Mount. If it seems awkward to you, just practise it until you don't.
The bike should be on the sidestand with the bars turned full left. Place your left foot on the left peg and reach over with your right hand and grab the right grip, squeezing the front brake nice and hard.
Now stand up on your left leg, you can grab the left grip with your left hand if you feel unsteady. Your right leg should just be hanging in the air. Pivot your hips so you start facing forward and pull your right knee up towards your chest untill your right foot is above the seat. Simply lift your foot over the seat and find the right peg with your foot, as you sit down.(still holding the front brake)
You need to practice this untill it's all just one fluid motion. Should take under 2 seconds. The bike won't roll if your holding the brake. This is easier if you have floorboards, and having a lower seat helps too, but not required.
You should be able to do the first move...(holding the brake and standing up straight with your left foot on the peg) and pause there as long as you want. What sometimes disorients folks is the bike is leaning and they think their weight us going to knock it over... It won't fall as long as your holding the brake...(and your not parked on soft ground)
This technique works the same way for your passenger....except instead of holding the bars they are holding your shoulders.