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The walk is a four beat gait. 

First beat - left hind
Second beat - left fore
Third beat - right hind
Fourth beat - right fore

The trot is a two beat gait.  

First beat - right hind and left fore (left diagonal)
Support phase
Suspension - all feet are off the ground
Second beat - left hind and right fore (right diagonal)
Support phase
Suspension - all feet are off the ground

The canter is a three beat gait.  

First beat - right hind
Second beat - diagonal pair (left hind and right fore)
Third beat - left fore ('leading' foreleg)
Fourth beat - pushing off with left fore
Suspension - all feet are off the ground

The gallop is a very fast gait.   

First beat - right hind
Second beat - left hind
Third beat - right fore
Fourth beat - left fore
Pushing off - left fore
Suspension - all feet are off the ground