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Xenophon describes how the rider should mount, taking the rein loosely in his left hand, either gripping the mane near the ears or using his spear, while with his right hand hold bridle and mane at the point of the shoulder. He would draw himself up with his left hand, while also using his right to lift himself, throwing his right leg across the horse without resting his knees on the back of the horse. Much influenced by Persian horsemanship Xenophon follows Persian fashion in suggesting that the groom should know how to give his master a leg-up in the Persian fashion, if the master was old or infirm.
When mounting from stationary Xenophon's description perfectly matches the necessary actions. As with most things, practice makes perfect and on a fourteen hand horse, with a simple saddle cloth it is not really too difficult.
But it is far easier at the trot, and easier still at the canter. The rider almost skips alongside the horse facing forward. At the right moment the rider jumps forward with both feet and as the horse comes alongside the rider uses the horse's momentum to swing up in to the saddle.
An alternative is to place a carrying strap on a long spear. Place the left foot in the loop of the strap and use it as a step to mount the horse. This is a very easy method and seems to be shown on this intaglio. It is not like using a stirrup since the rider is facing the horse and tries to keep the butt of the spear still in the ground while mounting.
If the spear is twisted it may weaken the join where the butt spike is socketed into the spear. The spear must be held vertically, since holding the spear at an angle will place more strain upon the join between the long sauroter and the spear shaft. The spear is held in the left hand, with a good handful of mane, while the rider pulls himself up into the saddle as the left leg straightens in the leather carrying loop.
If the horse is a nice steady mount it can be approached from the rear and mounted by performing a straddle jump straight over the horse's rump. When landing, grip with the inner thighs to stop the whole weight suddenly landing on the horse's back. I am certainly no athlete but I find this an easy method even in armour. I suspect that committing oneself so totally using this approach nobody has any doubt they will succeed. The horse needs to know the rider is coming and what to expect, and on occasion some horses just decide this is not for them and wander off.
But my favourite method is just to get the horse to lie down. It is easier to teach the horse to lie down than to kneel. Just step over the horse and encourage him up using the reins. During a public show the crowd will think this is very impressive, and it allows the rider to wear lots of heavy restrictive armour and still get on the horse. As the horse rises, the rider throws his weight forward as with jumping, and can steady himself with the spear.