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There's really no set of rules for training a cow to be milked. Each cow is an individual. I definitely wouldn't recommend a beginner to attempt training a new cow. You really need to be an experienced milker to train a new animal. Goats are one thing, but we're talking about an animal that weighs up words of 800-1000 pounds.
When we've had milk cows calve it's usually not easy to get them back on the milking routine. They haven't been milked in a couple months, their bag's huge, swollen and sore, and their number one concern is the welfare of their calf. In the past I've had the attitude of "Okay, you can swat me with your tail, but let me milk out your four gallon udder, and don't you dare kick me!" What I've learned is that later when they're back in the routine, when you reprimand them for swatting their tail they get frightened and don't understand what they did wrong. So it really is best to draw the line up front.
I certainly don't want to discourage anyone from getting a milk cow! They really can be sweet animals, and all the milk, ice cream, cheese, yogurt, butter, and whipped cream you can eat!