I have a different perspective on that, not better, just different.
If your horse cannot stand still, then don't work at forcing him to. Get him to there, via letting him move, and move and move and move.
He feels that he NEEDS to move his feet, so, you let him circle and circle and circle . Then let him out and see if he'll walk forward. Probably will for a step or two then he'll speed up, so you circle him again (use both directions). Don't fight him , don't get mad. If you fight him, he;ll fight you! You just direct the flow of his energy. Can't hold back the dam, just give it a chute to go through.
Also, ride out in a saddle til you have this better worked out so that you can deal with whatever comes along.
But the biggest thing that strikes me about your post is your friends. They should have been more with you on making the ride more successful.
It helps to go out several times with someone who is willing to work WITH you. So, first they lead for a bit and they try to rate their speed to work for you , too. After five minutes, they "peel off" and walk to the rear , while you proceed to the front and you are the new leader. Then, soon it will be your turn to peel off, go to rear and Peel in to the end of the line. This way, no horse must be the constand leader. The "peeling off" disengages the hind quarter, and the horse isn't being "passed" by another horse facing the same direction, as in a race.