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Of course he knows how to lope, all horses do unless they are lame and you should not ride a lame horse. I could write out instructions for you here but it probably won't transfer very well to doing it. Ideally it would be great if you had someone on the ground showing you how, and they can see what you are doing wrong, if you're out of balance, etc. If that is not an option for you, go on YouTube and look up instructional videos on loping/cantering. That way you can see what is being done as well as spoken instructions. Good luck, hopefully you'll be loping around in no time.