How your leg holds you on your horse effects how they can carry you. If you grip with the thigh and/or push into the stirrup, you will have a braced position and not a connected one. The key to good riding is to follow your horses motion so they can lift the back under you. This is the only way we can steer with our legs and not the reins.
The rider position article I referenced at the end of the video
The importance of a straight rider
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