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I’m having trouble keeping my heel down and leg firmly on my horse. Does anyone have any suggestions to fixing this or techniques on and off of the horse?

I’m having trouble keeping my heel down and leg firmly on my horse. Does anyone have any suggestions to fixing this or techniques on and off of the horse?
It helps if you stand on the edge of a stair and flex your heel down, that helped me quite a bit
There’s an exercise you can do every day. Put your foot against a step or a block and press into it so it bends by force in the heel down position. I found practicing it everyday helps.