Shoulder in and leg yield on a circle ;)
FANTSTIC exercise... Work on a 20m circle, leg yield off the outside leg down to a 15m circle, then back out to a 20m circle. As you're yielding back out to the 20m circle, put your horse in shoulder in (or shoulder fore if horse is not established in shoulder in) and continue onto the 20m circle.
Straight up after one circle, then back to leg yielding in and out, back to shoulder in etc.
Mixing this up into serpentines and figure of 8's will really get that change of bend happening, and don't be affraid to overbend at times.
Essentially, you want to be able to move the hind quarters and the shoulders wherever you want to. If I'm on a 'sticky' horse, I will ride in slight shoulder for for most of my ride, shaking it up with some renvers and travers, into leg yields with bend on circles etc.
Avoid straight lines - they encourage a horse to be stiff and brace if you don't have the connection established enough on a circle. Straight lines are for testing your work on the circle, circles are for training :)