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Honestly, the best way is to become completely familiar with the harness and controling a horse with the reins held correctly for driving (not a rein in each hand as you would for riding) Once you are confident with the harness and are sure it's fitted correctly then go ahead and train him/her.
If you start using winkers always use them because a horse that is used to wearing them can react very badly if you suddenly try driving without them (even after years of winning show classes!)
Start by getting them used to the harness alone, there are loads of irritating dangly bits to get used to. Once they are completely happy with all this get then used to pressure on the collar. Two of you will be needed! Get someone to extend the traces and as you long rein get them to lean back holding the traces while you ask the horse forward.
Next get her used to pulling a noisy thing, maybe an old tyre, logs are less controllable and can roll sideways and tangle the traces round legs. Always, ALWAYS have another person holding the end of a quick release knot when you do this for the first 10 or so times, more if she's nervous. This is the make or break bit, if you scare her now it's back to square one! If she panics pull on the quick release knot and let that tyre go!The horse can soot forwards without the tyre chasing them. It may take several attempts to show her that it's not going to kill her, try pulling it yourself in fron of her so she sees what's making the noise.
I could go on, but unless you can drive and are used to harness names and cart terms it will mean nothing to you. This will give you a start and it is good practice in between driving lessons. Be careful though it's not as easy as it looks!
Sorry this is a long one.
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