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first of all you need to establish the basic stand-walk-trot-canter. Then maybe work on going from a steady (not lazy) trot to a canter. when you are confedent your horse knows the command for canter, then you will need to get your horse in an active walk around the riding arena. When he feels like he's really working and coming off your leg and listening, and feels like if you ask him to do something he will do it straight away, then when you get to a corner or a long side give the command you have taught your horse that means canter, (using voice helps) then push him forwards into canter. If it doesnt work and he simply trots, ask him for canter imediatly. repeat this, if it is still not working, then your horse is not listening to you, or you may need to re-teach him the command for canter.

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