Start from the ground with lunging exercises that help him give to the bit and engage his haunches ie. Doing transitions from walk to trot (or pace) and back to walk; trotting over poles (start with 1 and then add 1 or 2 more spaced about 3-4 feet apart); trotting over cavaletti. This work could take weeks, so be patient.
Once the horse is trotting from his hindquarters ask him for a short canter. He may need to 'run' into the first few transitions. You can also ask him to canter away from the cavaletti.
Reward him for any canter strides he manages to get. Always stay calm. Cantering will feel awkward to him and he needs to figure out his balance.
Also, remember that his former training punished him for trotting or cantering. If he gets excited, just calmly bring him back down to walk. Once he's doing well with some cantering in the ground work then start to ask him for a few strides of canter under saddle.
Use the same exercises as you did when lunging.
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