Ahhh, you got to participate in your first milk stand rodeo!
I find goat bondage works well. I now pull all babies at birth, and bottle feed, so I don't have to worry about doing the milkstand rodeo anymore (the does associate me as their kid, and therefore think I belong there, instead of thinking that I am "stealing" milk from their kids), but I have participated in such antics in the past.
First, you need soft, cotton rope. Look up "Japanese rope bondage" or "Shibari" on youtube, and teach yourself how to tie those non-slip cuffs. They are pretty easy once you get the hang of it, and look kinda like a hangman's noose applied to a goat leg, except that no matter how much the goat tries to jump, kick, or pull, they
will not tighten up and cut off circulation.
Tie all four feet of the goat to the milkstand. Then, put an upside-down milk bucket under her chest to make sure she doesn't try laying down while you are trying to milk her.
Then milk. She can't go anywhere or do anything. So you and your milk bucket are perfectly safe.
When you are done, pat her, scratch her, and tell her what a good girl she is and give her a cookie. Then release her. (Those things are easy releases, so it doesn't take much time to either do them or release them.
Repeat this process faithfully for every milking for one week.
At the end of the first week, only tie her back feet, and don't use the upside down bucket any more.
At the end of the second week, you can stop tying her up altogether. She won't need it any more.
And that, my friends, is how you cure a goat of milkstand rodeos.