Its much easier to teach them the correct way when they are little then to wait till they are big and harder to push around.
I always start with very short 10-15 min. Lessons. Just taking them out with a halter and lead rope then tossing the rope around their legs, back belly, over their head, that sort of thing.
When you start trying to pick up their feet you have to commit to it. Don't pick up the foot and when they move away drop it. Plan on wearing some good boots, pick up the foot get a good grip on it and don't put it down till they stand still for 10-15 seconds. Then don't just drop the foot, but set it purposely down on the ground. You may have to do a dance all around the yard, get your feet stepped on etc. but don't put the foot down till they stand still and stop fighting. Take a break and do it again till your 10-15 min. Are up. Stop for the day then go out and do it again tomorrow if your back and toes can take it
Hope this helps