Is there a word or phrase that means "to start a horse" or "make a horse start moving"? Something like "he [started] his horse".
I thought of "urged her horse on" but that sounds like the horse is already moving. "Brought his horse to a canter" sounds okay but I want something that doesn't specify the speed, just shows that the horse has started moving.
I feel like there's a single word that means what I'm trying to say, but I can't find it.