K, Im new to horse training/ownership/slavery, so take this with a grain of salt....
I love this forum, and have gotten alot of advice. Many people have given me the same "make sure you're the boss" advice as well. I concur as well.
About 3 months ago I got a foal and a yearling - neither had been worked with or handled much (if at all for the foal).
The foal would NOT let me pick his feet up,he'd pull away,kick, be a little bast....well, you know. I followed the same advice - be the boss. Hold on (easier said then done!) and be persistant.
When I started with him, he'd pull. So I'd hold on. That led to the "tripod" running away, and me on the ground.
Then, he'd get his butt (not litteraly) tied to the thinking pole and we'd start over. Then he figured on kicking/swatting. It didn't take long to figure out the right places to stand and the wrong places to stand (There are more wrong then right places, BTW!!) After he learned that running, pulling and kicking doesn't work, he gave in. Every day I would do this. Once he'd let me hold his foot and not be naughty...I'd treat him (horse treat, rubbing his neck, lots of praise, or a combination). Within a week I could pick his feet up without the aid of the "thinking pole". He'd lean and push and wobble, but you could hold his foot. I kept working with him - even though the results were more then satisfactory already.
Today, you can walk up to him, hold your pinky out about 6" below where a girth would go and say "Jake, gimmie your tootsie." and he will pick up the correct front foot and place it on(or atleast darn near) your pinky, and let you hold it - well, at least his fronts. The backs you still have to touch the front of his 'ankle' (??) and apply a small amount of pressure...up up and away!
So far, I have 2 more trained to do this, and working on the third.
Now...learn from my mistakes. The only thing I would do differently.....DONT CALL IT A TOOTSIE! Everybody gives me chit about that!
Seriously though, All of that isn't neccessary, BUT it did come down to "be the boss." Persistance is a must. Apple slices help a bit too.