Originally Posted by riccil0ve
I reach for my mare's foot and she all but puts it directly in my hands, lol.
Unless you have a real ornery horse or there is a pain problem, my experience has been that they all get to this point over time, regardless of the 'cue' you use. Some folks run their hand down the leg, some squeeze under the fetlock, etc. and reinforce with a verbal cue until only the verbal cue is needed. Many will even do it when they see you next to them with a hoof pick, rasp, or hoof stand. Like most things, repetition and patience.