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I need tips on how to teach my dog to "heel"

So here's my question: How did you teach your dog to "heel"
 

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I am working on it right now with Phoenix. Here is what we do:

I keep him on my left side, leash in my right hand, but holding it about 1/2 way down with my left hand so he does not have too much slack. If he starts to get ahead of me, I STOP. I do not start walking again until the leash is slack again. This way he will learn that he gets nowhere by pulling.

If he tries to go around me, or away from my left side, I quickly change directions and go the exact opposite way that he is headed, forcing him to follow me and go the direction that *I* want to go.

If he is doing well (staying on my left and not pulling or lagging behind, attention on me), he gets treats and praise. I started out with treats about every 3 steps or so and now we're up to about 15 steps between treats.
 
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