Training a steer to show is not an easy thing to do it takes a lot of time.
One of the first thing you want to do; is break you steer to touch. The way I do this is to use a rake and rub the steers back, brisket, and legs. You will want to do this every time you go out and feed.
The next thing is to get the halter with a long lead rope on each of your steers, Leave it on them so that they are easy to catch, You will want to check your steers twice a day to make sure that the halter is on and that the steers are alright.