Raise the back of your tongue to touch the soft palate. Add vocal cord vibration, then release.

Americans pronounce grip as GRIHP (/grɪp/). You'll hear it in sentences like "The batting gloves help him grip the bat better".
Record yourself saying "grip" and play it back. The mic stays on your device — nothing's uploaded.
1 syllable, 4 sounds. Explore each sound's mouth shape and how it's made.
Raise the back of your tongue to touch the soft palate. Add vocal cord vibration, then release.

Curl or bunch your tongue without letting the tip touch the roof of your mouth. Brace the sides of your tongue against your upper back teeth, and round your lips slightly.
Drop your jaw slightly with relaxed lips. Touch the tongue tip behind the bottom front teeth and arch the top-front toward the roof.

Press your lips together to stop the air, then release. No vocal cord vibration.

The textbook way isn't wrong — it's just not how anyone actually says it.
In "grip", the "p" is not released — the articulators get into position but hold without the burst of air. Air stops but there's no release burst — the articulators hold position.