Teaching our dog to walk with us is more about engagement than a skill.
We need to know how to keep them with us without using the lead to retrain them. Our voices, our body movement and of course rewards all help to keep them with us.
Positioning at our side is the aim and then we have to add distance and distraction to this behaviour. This is often where the problem occurs.
They will walk nicely when they have nothing more interesting around them or if they know that there is no chance of going off lead, but on the way to the off-lead area or past heavy distractions can be way too difficult for them.
Heelwork is notoriously boring for both owners and the dog which is why it often fails. Putting the fun into the exercise is the key to achieving the success required to make walks enjoyable.