Dos is learning to maintain a lope, and carry a bit. When loping circles I do use my outside leg to help encourage them to not dive out and then I will use my inside leg if they dive in. This will help you be able to control their shoulders when loping smaller and larger circles. You do have to teach a horse HOW to maintain a lope let alone all gaits. I haven't loped Dos undersaddle for at least 3 weeks due to weather, and working on other things that all start at the slower gait. She doesn't mi