When I am riding we use a system called Ask Tell Demand (which you may be familiar with). It is where you give the horse a chance to learn from its mistakes, and for you to have a fair way to "discipline" the horse.
Here is an example:
When you want the horse to move faster (from walk to trot)
Ask: Give him a light squeeze with you legs
Tell: Give him a kick, and use your voice
Demand: Use an artificial aid (crop, spurs), and your voice
Use demand as the last resort, and if you have to use it, use it lightly first. This is increasing your pressure on the horse to get him to move the way you want.
Try it out!
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