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People are taught to canter after they learn how to ride the trot because it is much harder to ride a trot than a canter. I use the following method to teach people how to get their horse to canter.
I recommend practicing the aids (signals) for canter on the ground first. Assume a stance as if you are sitting on your horse, knees bent enough that you cannot see your toes, and your back straight. If you've ever taken any kind of martial art training you probably all ready know this stance.

Now paying close attention to what your hips, seat and legs do extend your right hand forward, swing it up and over as if you are going to smack your horse on the rear with it. Be sure and remain straight and facing forward while you do this.
As you swing you will notice your right seat bone drops, your right calf pushes against your horse's side and then the seat bone pushes forward. All this reaction causes the horse to drop his weight onto his right hind foot and then push off with it. His forehand can come up and the left foreleg is free to lift and extend.
Reverse the procedure and practice it on the opposite side to obtain the right lead. Once you are sure you know just how your seat and legs are reacting try doing it without the big hand motion. At first go back to the hand swing every few tries to make certain you are keeping the leg and seat motions correct.
After you are confident you've got it try it on a horse in a round pen or arena. I recommend a confined area so you don't have to think about anything other than your seat and cues. When you and your horse both are comfortable with the cues then try to make them softer and quieter until someone watching you is unable to see exactly what you are doing in order to get your horse to canter. You will not get to invisible aides overnight, it takes years of work to learn, but it is great to have people think you and your horse are communicating invisibly.

Learn more about this author, Elizabeth J Baldwin.
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