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The Structured Walk:

I make a point to keep the attention and focus from a dog on the walk.  Dogs are pleasers by nature, and, in a follower position, they will come along regardless of the depth of relationship.

I have met many dogs - most of them that had never been handled by anyone other than their owners.  When they realize you move with confidence, purpose and keep a level of expectation, they're all yours!  They don't zig-zag from tree to tree, they don't bury their nose in a patch of particularly good smelling grass and refuse to continue, they do not protest, nor do they control any aspect of the walk.

When you don't give an inch for them to take a yard, they'll respect the walk.  You then are giving the activity a purpose, you'll come home with a calm, exercised dog, and the affection is now well earned and deserved.