Make a deal with your guy and seal it with a hand errr hoof shake. Begin by facing him and touching the top of his hoof with the end of your shoe. He should lift his foot off the ground. Reward every effort.
Next, reach down and take a hold of his leg and pull it gently towards you. Don't forget your cue word and click and treat for every effort.
It won't be long until all you have to do is reach towards his leg and say "Shake" and he'll lift his foot and put it in your hand.