The walk is the gait most often neglected in training because it is the easiest to ride and produces the least dramatic results in the short term, yet it is also the gait most easily damaged by incorrect training and the one that most directly reveals the quality of a horse's overall relaxation, suppleness, and training. A correct walk is a clear four-beat gait with a consistent rhythm in which each foot strikes the ground independently in a regular sequence. The horse should move with a long, swinging stride that covers ground freely, tracking up so that the hind foot steps into or beyond the print left by the front foot on the same side. The walk deteriorates quickly when a horse is held too tightly, overworked on small circles without adequate forward impulsion, or asked to collect before it has developed the suppleness and strength to maintain the correct four-beat rhythm in a shorter frame. A walk that has lost its clear four-beat rhythm and collapsed into a pace-like lateral two-beat movement has been damaged, and restoring a correct walk rhythm is a slow and difficult process that requires months of patient work at a forward, free walk before collection can be reintroduced. Developing the walk correctly requires giving the horse freedom to swing through its back and reach forward with its neck at the walk, particularly during warm-up and cool-down periods, and never holding or restricting the walk to the point where the rhythm is compromised. The free walk — a walk in which the horse is allowed to stretch forward and downward with minimal rein contact — is one of the most valuable exercises for developing and maintaining the quality of the walk throughout a horse's training.
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Watch: How to Develop the Quality of the Walk and Why It Is Often Neglected

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Al Dunning: Speed Control and Horsemanship — Developing the Quality of the Walk and Why It Is Often Neglected
Al Dunning