Walking a dog on a loose leash is one of the hardest skills for people to learn. Yes, people! Dogs can't learn a skill if they are getting confusing instructions. It takes two to pull on a leash!
LEASH HANDLING
With good leash skills, even an untrained dog can be kept under control.
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Choose a good quality leash that is comfortable in your hand. Soft leather, cotton, and rope style leashes are most comfortable. Nylon can give you blisters, and chain leashes can break fingers. Flexi (retractable) leashes teach dogs to pull because they only work if the dog pulls on it
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Choose a good quality training collar or harness such as a head halter or front-clip harness. Harnesses that clip behind the dog's shoulders are great for hiking or cart-pulling but not for training because they make it easier for the dog to pull.
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Hold the leash securely using the "leash lock" method.
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Let your arms hang naturally by your sides. Once your leash arm goes out in front of you, the dog is in control and pulling. Your center of gravity is off, and they can easily pull you off your feet. Walking a dog on a leash should feel exactly like walking without a dog - at your natural gait and arms swinging naturally.
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If your dog is large and strong and not yet leash trained, holding the leash with both hands against your hip will give you more control when you must walk your dog somewhere and can't work on training, such as visiting the vet.
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Resist the urge to "steer" your dog with the leash. The leash is there for safety and to comply with leash laws. Think of it as a brake and not a steering wheel.
Leash Lock

DON'T ALLOW PULLING
By the time they get into obedience class, most dogs already have a habit of pulling. Habits get stronger the more we do them. They will never stop pulling on leash if they are practicing pulling on the leash every day.
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Stop walks for now if they are not necessary. The extra training you are doing will make up for not getting the walks for a while. Play extra rounds of fetch or tug.
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If you must walk your dog because you don't have a fenced yard or need to take them to the vet, use good leash handling skills. If the leash gets tight, turn and walk in the opposite direction until your dog is next to you. Praise and treat for being next to you. Then turn back the way you were going.
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Make a commitment to not take a single step forward if the leash is tight. Every step your dog is allowed to take on a tight leash rewards them for pulling on leash and makes it harder to break the habit. It's "one more cigarette" for a person who is trying to quit.
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Practice the mechanics of loose leash walking inside your home first before going outside. We learn how to operate a car in a parking lot first before driving it in traffic. Teach your dog how to walk on a leash before asking them to use the skill in "traffic".