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Assuming that pasture fencing is already present, go around the perimeter of the pasture that you are to graze your animals in and check the fence for any broken wires, stretched wires, staples pulled out, broken posts, or trees on the fence line. Fix such weak areas as you find them accordingly. Quite often, just the activity of checking fences will bring cattle up to the gate or fence to see what you are up to. Cattle are always inquisitive and will go to discover anything that is new or different, such as activity out in the field or an open gate left deliberately or accidentally open. Thus, it shouldn't take them very long to find the open gate and the fresh grass beyond.
Check fences prior to turning cattle out. Open the gate and coax or bribe the cattle through to the fresh grass.