At riding bareback. I've finally developed my seat, I think, with my shoulders, hips, and heels (and ears) in a straight line but still balanced. We did a lot of work on changing direction with just shifting my weight, sometimes he remembers and sometimes he doesn't and then I have to add the rein a bit.
We also worked on standing still, and doing one rein stops and flexing every time he would move off.
I did fall off, but I lost my balance, not a fault of him, held on to his mane and just slid off, landed on my feet. Took him back to the block, got back on, went back to work. It was over all really nice.
I prefer going bareback to riding with a saddle, I think. :)