When I walk my dogs on a "fun" walk they do not have to be in heel position as long as they don't pull I have no problem. When I walk all 3 together Lakota's position is on my right side so she walks on both sides.
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Apache - Shiloh Shepherd 12/15/02
Kiya - Shiloh Shepherd 5/15/04
Lakota - WGSD 1/13/10