They proceed to the canter, and when the mare swaps leads when she asks for collection Steffen has her explain it in a walk pirouette.  At the canter again on a 20 meter circle they ride haunches in, lengthen, bring the haunches in and then ask for collection.  They experiment with keeping her straighter in the neck when asking for the collection, and then try a bit of counter flexion to keep her more honest on the outside leg. In the trot they leg yield to the inside of the circle when she tries to swing her haunches out. Steffen has them do canter walk transitions and helps them when she stops her hind end in the transition.