I use the Clinton Anderson training (no I don't buy all his name brand equipment as it can be found for much less elsewhere and I buy the videos used). It really does work. I spend about an hour per horse working in the round pen or on a long lead, making sure I am the one making the feet move in the direction I want them. If they want to run....then by all means they are going to run....until I tell them it is ok to stop. It is amazing the difference it makes in a very short period of time.
Every one of my horses can be walked up to in the pasture and haltered. No hiding the halter and lead rope. They know I am the boss and leader but they are also very affectionate. I have their respect and that makes all the difference!
Good luck with your groundwork.