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Brad Barkemeyer has a threecircle drill he uses to help work his horse. In the first part, he works on the smallest circle, where he does things at the walk and back to get his body soft and responding to his cues.
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MediumCircle Drill
In the second part of this drill Brad speeds things up in the mediumsized drill and shows you what you can do once you've progressed from the small circle to the medium circle.
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Preventing Anticipation While Stopping
In this video, Brad talks about how to prevent your horse from anticipating when you ask them to stop.