well, the way I taught my first horse, Leia to do bridless was simple. Every time I rode her, I used a lot of leg and seat. Every time I said 'whoa' I'd lean back, deep into the saddle, over emphasizing so she'd understand faster. Every time I'd turn her, I'd use a lot of leg on one side and stop the pressure as soon as she turned. I practiced for bridless by putting her bridle on, tying the reins so they wouldn't get in the way, and rode bareback for a while. I didn't take the bride off right away, so I had sort of an emergeny stop thing. When she was perfect at the leg and seat and voice commands alone (no reins) I got on her in the arena without anything on her (not even a neck rope) and rode her. I even did a dressage test!
“Have fun - Stay on top.”
"There's nothing like sixteen hands between your legs"