Do you have any specific concerns?
My horses are on a ranch, so once they've got the basics down, I just start walking through the cow herd. Then I might trail a few cows, and eventually I'll work up to more intense stuff. Today I had to open gates to feed cows, so I rode my horse out, called the cows in, and they followed us to the fresh hay.
I also do cattle sorting, and I'm going to be starting a couple young horses in sorting this spring. I think once they turn quickly and stop well, and move off leg cues, they're ready to go.
In general, I find it's best to work calmly and a little slowy with sorting. This is great for young horses. People in our club have rode green horses in sorting, and it's worked very well.
Have you worked cattle before? A big part of sorting and penning is learning to read cattle. Both you and your horse will likely start to pick this up with practice.