In this book, Master Knips is a monkey that the Robinson family has tamed. They teach him to do quite a few different things and I do not really know which thing you are talking about.
One thing they teach him is to ride on one of the family's dogs. Another thing they sometimes do is send him to get fruit down from the trees for them -- eventually, they even rig him up with a basket that he can carry the fruit in. When they are teaching the buffalo to accept a rider, they start by having Knips sit on him and hold the reins.