It's best to not let them get fighty, as Rosemary says.
Personally I hate the 'swinging' of any animal, and you can't do 'pressure and release' if the rope is tied to a fixed post or wall. So starting very young, and getting them used to the halter while they eat and you aren't applying any pressure, as Rosemary describes, is best if you can.
And then, the 'pressure', as you ask them to move towards you, is soft and springy, not fixed and hard. If they pull away, you maintain the pressure but don't increase it, and you never make it a strong pressure, just gentle but insistent. I'm not sure I am describing it well, but anyone who rides horses with a bit will understand the distinction. To maintain a consistent pressure, you may adjust your hold as they pull back - but they don't achieve any less pressure by doing it, neither does the pressure increase. So it neither makes them be more fighty nor makes them think it's worth doing. You don't give in to them, don't reduce/relax the pressure, until they show a tiny give into the pressure, when you release the pressure as their reward. But at first that give may be as small as a slight lowering of an arched neck, anything at all. Gradually, as they learn to expect the reward of release, ask for a little more each time. And just do it one or two times per session at first, so they don't get fed up or worked up. It's amazing how quickly they learn if they're not pushed (or pulled!
) too hard.