There are really only two reasons a transmission jumps out of gear:
1. As Bartjan suggested, the "Dogs" on the gear are rounded off, stopping the driving and driven gears to mesh completely, or
2. The shift fork is bent slightly, not letting the gears engage completely.
Either problem tends to cause the 2nd problem to occur, over time.
Usually means a tear down and repair.
The only other thing you can do is to shift carfully/completely and ensure that 1st gear is completely engaged prior to putting on the power, but this problem will likely only get worse as time goes on.