Originally Posted by Northern
You want to have him keep his feet on ground at first--not want to escape your hands--so you massage his legs in a friendly way till he feels safe leaving them there for that.
This is the best way in general. Use your hands and touch/massage the legs from the top to the hoof every possible time you can, over and over. Our mares are so used to having their legs touched that they will stand still for a trim without being on a lead or being tied.