Simple example:

Alice: “I need you to do X.” Bob: “OK, I’ll do X.”

Not much negotiating, but Bob has aligned to Alice’s request.

More subtle:

Carla: “Do you think we should do X or Y?” Danny: “I’m leaning X but Y might have the following benefits…” Carla: “I’m leaning Y for those exact reasons. Why do you think X?”

And so on, until alignment is reached. Hope this helps!