Here are some basic examples of typical pivot modulations in simple piano music. They all offer simple harmonic models for moving from tonic to dominant major (e.g. C major to G major). There are also some more complicated modulation models for string quartet on this page.
1) Thema from Mozart Sonata in D (KV. 284)
2) Allegretto from Mozart Sonata in Bb (KV. 333)
3) Allegro from Corelli Trio Sonata in C (Op. 5/3)
4) Moderato from Haydn Divertimento in E major (Hob. XVI: 13)
This features a more abrupt modulation rather than a pivot. The chromatic change in from iib in the tonic to V in the dominant (F# minor to major – A to A#) is often done without the intervening root position ii.
5) First movement from Haydn Sonata No. 3 in F (Hob. XVI: 23)
This is more complicated, being longer and involving another key in between tonic and dominant.