Like @beau159 said, it comes easy to some and not so easy to others… My mare is one of the not so easy ones. It took a year for us to get clean changes both directions. I don’t know why, but it was really, really hard for my mare to learn what her feet were supposed to do. It also didn’t help that this is the first horse I have worked on changes with…
Even now she must be very forward, and I have to cue her at exactly the correct moment or she will either not change or will be late behind. I also can’t half-halt her right before a change or it will not be clean without a big tap of the whip where I then get launched vertically a couple inches out of the saddle because of the leap.
So how do I ride them… I ride them like I stole them! I have to think “FORWARD, round 1-2-3; FORWARD, round 1-2-3; FORWARD, round 1-2-CHANGE-3” with a matching strong leg cue at CHANGE of switching my leg position to the other lead.