To add to Marty’s post: dressage horses and most others are trained to seat and leg aids. If I want my horse to leg yield, I weight my seat on the side I want him to move away from. Both inside and outside leg aids will get different results depending on placement and pressure. While a giving hand rewards him for doing “good”, the hand, ie rein, controls the shoulder and the bend. I expect my horse to move forward from leg aids, light pressure to ask, more pressure or light spur if no or minimal response, whip tap if all else fails. We incorporate basic dressage during our rides, no jumping and don’t show.
“Fancy footwork” is passage, piaffe, canter pirouettes and half pass—all upper level dressage movements. Since some of the haute ecole movements, which are not dressage movements, are done unmounted, the piaffe whip is the only way to communicate with the horse.
Sorry to bore everyone with a simple dressage lesson. I understand that many people do not ride, so don’t know/understand. Just like I don’t get the allure of chasing a little white ball around the golf course.