Instructions
Stand facing towards the back of the horse. You will always stand on the side of the horse that corresponds to your shoulder. For example, stand with your left shoulder next to the horse's left shoulder or your right shoulder to his right hip. This will always ensure you are facing the right direction.
Scoop up the hoof with the hand that corresponds to that side of the horse. If you're standing on the left side of the horse, use the left hand to pick up the hoof.
Hold the hoof from the inside. If you have the proper grip, you fingers should point towards you and your thumb should point in front of you.
To lift the front leg, slide your hand down the horse's leg. He will likely pick up his foot so you can grab it easily.
To lift the back leg, slide your hand down the back of his leg. Picking up the back leg is a little more awkward because you have to work around the hock, but once you get a feel for it it's easy.
Be aware that for horses with joint problems, holding up their own leg can be troublesome. It can also be a heavy weight to carry in one hand. Sometimes the horse will rest her weight on her "toe" so the sole is exposed but she doesn't have to raise her leg. If she doesn't cooperate you'll have to lift the leg farrier-style. Once you get the leg raised and in your hand, slide your inside leg around it and hold the leg between your knees. (This method also works well with snug fitting bell boots.)
How to Pick up a Horse's Feet
As large as they are, horses have teeny-tiny feet. The feet bear extraordinary amounts of weight and even though those hooves look hard, they're actually composed of mostly soft tissues. To keep hooves healthy, horses must be shod regularly and their hooves must be picked out often. The only way to do either of these things is to pick up those feet in your bare hands.