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The proper way to walk a dog is with the dog on your left side. However, this is only necessary for formal obedience and some other sports. For pet dogs, choose whichever side is best for you, but be consistent and stick with the chosen side.  The dog should walk with its head or shoulder even with your hip. You are not holding the leash tight to keep your dog in place. The leash is slack between you, with no contact. "Right Here" is a useful command to teach your dog when standing. If your dog is not close enough or is confused about which side to sit at, slap your hip and use the command "Right Here". If needed, lure your dog to your side with a treat. As your dog learns, slowly fade the lure by using your hand without a treat, then just your hand, then more general. The lure can become a hand signal (moving your hand to your hip). The key to heeling is having your dog's attention. Start standing still with your dog sitting beside you in the correct position. Get your dogs attention by calling its name, tapping on its head, making noises, or using your pre-taught "watch me" cue.  When the dog looks up, slap your left hip with your hand and say "Right Here". This is a command. Your dog can learn to look where you indicate, and in this way you are giving your dog a reference point for where he should be while heeling. Set your dog up for success. Try your best to avoid asking for more than your dog is capable of. Remember, the key is getting your dog's attention. This can be the most difficult thing. Also, though it takes some work, while getting your dog's attention you can teach your dog to look at you when you say "Watch me" or whatever your chosen cue is. Remember to reward with a treat when your dog responds correctly. Reward your dog. Increase to two, then three, and so on. Consider every walk you have with the dog a training session. Treats are usually the most favoured and easiest option. You should positively reinforce your dog when he obeys your commands correctly. Avoid using punishment to train.
Teach your dog proper positioning. Teach your dog to position itself correctly. Get your dog's attention. With your dog in position, take one step. Once your dog is reliably heeling, introduce speed changes and turns. Heavily reinforce your dog for good behavior with whatever they enjoy most - treats, play, petting, praise, etc.