How can I show my dog that what he did was inappropriate?

My dog recently jumped up on the table and ate a hamburger. He had never done this before. My dad got very mad, and really scared the dog. I would like to find a way to discourage this sort of behavior without hitting the dog on the rump or yelling so loud that it wakes the neighborhood. He is an 11-year old 13 inch beagle. Thanks!