Anyway, I'm pretty "loose" with the way I work with animals. I monkey with stuff until it works for both of us.
The joining up took some time, he would lunge nicely for me but wasn't getting the cues for quite some time. Finally I did, first time I turned he just kept going (little stinker). So I returned to cuing him to lunge, switched his direction and waited again. Again a long wait, finally cues, I turned and he came in nicely. Was pretty neat!
So then I wanted to work on his response to "pressure" and opted to work on backing up first. He trust me in that taking the lunge whip and rope over him he had zero reaction to it, was totally calm with me. So I put pressure on his chest to cue him to back and he was like a stone!!! LOL. He's pretty solid and big, I put more pressure still no response.
I'm glad I have a sense of humor, I didn't get frustrated but I did put all my weight into it and shoved him back, he went and I used a verbal cue since I had no free hands. So we did this several times and he got to where he would back without me pushing but I did have to touch his chest and walk at him.
Then I worked leading him - he does well, stays in the right place, doesn't speed up etc. But he also doesn't watch me. So I would change it up. Stop fast and have him stop with me, turn when he wasn't expecting it, walk in front of him, etc. Pretty soon, as soon as I stopped, he stopped. As soon as I turned, he responded correctly. As soon as I came in front he stopped and then!!!.... I walked at him and said "back" and he went back without any touching.
This is pretty neat stuff. As a long time dog trainer anytime I can connect with an animal through body language I love it. So at any rate I'm sure I should be following some set of steps or something but we'll get to them all. He already picks up his feet for me fine and responds to other stuff.
The next one though is moving out. Once I get him going, he listens well in the lunge, but getting him to move out he forces me to "push" him out every single time. I want to learn to have him move out by hand command or voice.