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Yep, I start mine similar to how joustinggirl said. Just make sure you take little steps at a time, and give them lots of praise so they know they're doing what you ask. Oh, and for a pivot on the haunches, it makes your job much easier if you can shift their weight on their hindquarters, as joustinggirl suggested. With their weight to the back, they're less likely to step out of the pivot, as they have to shift their weight back forward to do it!
I haven't trained a full-sized horse to do pivots specifically, but I teach all, minis or full-sized, to move away from me if I move toward them. If I want them to move their shoulders away, I turn, look at the shoulder, take a step closer, then apply the pressure with the hand while clicking to them (verbal cue to move). If they don't respond, I increase my pressure (like maybe start tapping their shoulder) until I get the slightest step. This has worked excellently with my minis... my mare will sidepass, pivot on the forehand and haunches, and actually complete the showmanship pattern relying mainly on my body position (lean forward means walk on, lean back means stop, further forward leaning means trot, etc). It took a while for us to be able to do it, but it makes the classes much easier now!
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I'll never forget you, Clyde! 3/18/02-12/30/06.
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