There is some great advice in this article.

It would be stronger if it were not tied to Scrum. Scrum is very confused about leadership (https://www.linkedin.com/pulse/scrum-very-confused-leadership-cliff-berg/). Also, there are widely studied models of leadership that explain some of what is discussed here, such as Leader-Member Exchange theory. But again, the advice here is very good.

One thing omitted is that often people do not want to be led for a very rational reason. Then what?