Watch the Voice Leading Major Pentatonics online guitar lesson by Jason Loughlin from Blues Connections: Major
In order to voice lead pentatonics, we need more than one chord. I've picked a three chord progression for us to practice our voice leading. We'll be using A, D, and E, meaning that we have to have command of the corresponding major pentatonics for each chord. So we need to know A, D, and E major pentatonic and the five modes for each. The idea is to ascend and descend through the A major pentatonic scale until the chord changes to D. At that point, we need to change to closest note in the D major pentatonic scale and keep moving in the same direction. It's kind of like musical chairs for scales.
I've picked eighth notes as my rhythm and I begin by ascending. I recommend not doing this with the track at first, just take the time to really think about what you're doing and where the next note is before you move. You should be rushed. Once you're feeling comfortable try it with the track. As you progress, try using dotted eighth/sixteenths, triplets, sixteenths, and various combinations. Also try starting descending from the high E string. Keep forcing yourself out of comfort zones. With this lesson, I've included backing tracks in three different keys.