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At what point do you know your horse is ready to learn counter-canter, and how would you go about teaching it?

At what point do you know your horse is ready to learn counter-canter, and how would you go about teaching it?
Usually your horse will be good at picking up canters at both directions solidly each time. When teaching the counter canter you start by giving them the cue of the other direction (ex: if your horse cues inside rein outside leg for the correct canter then you do outside rein inside leg for counter canter) you can also start in the center of the arena biasing no particular direction, pick up the canter and go the opposite way. Eventually the horse learns the cues fairly well. I hope this was helpful