They did Drill.
One example is the Testudo (Tortoise) formation. This was a very difficult formation a master. I have read histories that it took a Roman Cohort (a modern day company) a full year to train on the maneuver before they could master it, as it is nowhere near as easy as it looks.
"My center is giving way, my right is in retreat situation excellent. I shall attack." -Foch
I am from NYC. I fly a French flag because I work in Paris.