I had this same problem with my horse it was horrible there were so many times when she was really close to kicking me in the face so i did some research and talked to my instructer and she said get a rope(lead rope) put it on the back of your horse's leg rubbing the rope (gently) along your horse's back legs until your horse is quiet will really help and allow it to have someone behind him (the first step to picking up his feet cause if you cant stand behind him picking up his feet will be a long and possibly painful ordeal)
then you can move onto doing it with your hand until he is quiet if this makes him uncomfortable and jumpy go back to the lead rope only progress at a pace your horse can handle
once your horse can handle the previous step put the lead rope on the back of your horse's foot and pull up until your horse lifts it's foot( it will probably kick and jump around but just hold on when your horse stops slowly lower your horse's back foot and reward it, it will take time and patience and lots of repetition.
Today was the first day my horse lifted her back legs when i said "lift" without kicking out and jumping around
we've been working on it for about a month so there is hope
then you can move onto doing it with your hand until he is quiet if this makes him uncomfortable and jumpy go back to the lead rope only progress at a pace your horse can handle
once your horse can handle the previous step put the lead rope on the back of your horse's foot and pull up until your horse lifts it's foot( it will probably kick and jump around but just hold on when your horse stops slowly lower your horse's back foot and reward it, it will take time and patience and lots of repetition.
Today was the first day my horse lifted her back legs when i said "lift" without kicking out and jumping around
we've been working on it for about a month so there is hope