We started running our hands over Rain the day she was born. We have too many kids running around here to have a pissy foal that kicks and bites. (Not saying yours is pissy, but I've seen way to many like that!)
Rain is almost nine months old now, and we can run our hands anywhere - even on her little udder, in her ears (yeah, in). I even had to clean out inside her nose - she cut it on something and I had to clean it out to see how bad it was. She didn't much like it, but she did allow it. We can pick up her feet without any fuss. She leads fairly well, but like her momma, can get pretty stubborn about it when she wants to.
You are getting started a little late, but the same process applies. Time and patience. And repetition. Every day. Set a small goal - like being able to run your hand down her back. When she will stand for it reliably, add another little goal. She won't learn to behave over night - it's going to take time. But you can do it!
Plain Old Dee, horses Dancer and Rain I believe in dragons, unicorns, good men and other mythical creatures!