My granddad use to teach horses to tie and stay still by cross tying them between trees for an hour or two. They would paw and swirm, but they soon learned it was a waste of energy. He would watch, and as soon as they settled down he would come over the give them some hay and groom. If they started moving again, he would leave them for another 20 minutes or so. For really hard headed horses, it took about five or more times, but most got the message after two or three tries. Most of the time his method worked pretty well.