Does he canter easily while being longed? Both directions? If he canters well on the longe then use that to get him to canter when he is being ridden. Use a voice cue as he goes into the canter on the longe, such as the word "canter." Make sure he is sharp to your aids first though. Give him a good kick while in the trot to wake him up before you ask for canter, but don't let the forward energy escape out the front door (by him running off). Harness that energy between your leg and seat, the trot should be ACTIVE. Then, use the voice cue as well as a crop, and your leg aid to get him to go just a few steps. Then praise him, get off him and put him away for the day. Try to plan your session so that the canter is the last thing that you ask for. Gradually work up to a longer time cantering and go from there. After a while he will willingly go into the canter and carry on cantering.
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