He's got the front legs crossing over part, but he doesn't plant his hind foot very well. He'll be good for about 3 steps but then he'll pick it up. We've been working on this for a long time and we've been taking it one step at a time (3 times a week for 45 minutes all summer!) and I'd expect for it to be better than it is!
We're to the point where I don't really need to tap his shoulder in order to get him to spin/pivot anymore, I can just cluck and walk into him and he knows what he's supposed to do, but our main problem is just the far hind foot -- he doesn't plant it very well!
What am I doing wrong?
Also, is it the same concept under saddle as it is on the ground or is there a different technique?