First of all -- IGNORE HIM. Don't keep saying "go! go lie down!" etc. Ignore him and if he insists on begging, silently stand up, grab his collar and walk him out of the room without looking at him or saying anything.

Secondly, NO FEEDING FROM THE TABLE, PERIOD. Its fine to feed table scraps, but make sure to NEVER feed them from the table, or while you're eating! If you want to feed table scraps feed them AFTER the WHOLE family is done eating and cleared out of the kitchen, and then place the scraps into his bowl and then make him sit or lie down for the bowl.

Another thing that may or may not help is do not feed your dog while you or the family is eating. Always feed them after everyone else is done and the kitchen is cleared out.