A semi-new Endevor: Teaching Prancing

So even though I really should be focusing on training Rosco and Lola in utility, I have instead decide to teach them both to "prance" while heeling. I have long admired the "prance"-style heeling, and I always watch dogs that heel like this when they are in the ring. It is clear to me that for this to work:
* the dog's head must be up,
* all their weight must be in their rear
* their movement must be going up and down (rather than forward and back)
* and the dog must be in an extended trot,
all these components together will result in front legs flying and "prance"-style heeling.
I have played around with some different methods to teach this (including trying to teach it in the same way a Spanish trot is taught to horses) but so far have been only marginally dedicated and therefore marginally successful. Recently however, I found a great web site:

http://www.grammozis.de/Freeheeling.htm.

I am therefore going to re-up my efforts and really make a try for it this time. I figure I will give it six months and than see what I've got .... while still training utility of course ...... (procrastinating? -- never!)