Another way to make sure your dog obeys the commands is to train them in different places, in different positions (sitting in a chair, kneeling on the ground, standing, etc) so that the dog recognizes the command means the same thing whether you are holding the leash, sitting next to the leash, having someone else hold the leash, whatever. One of the most fun classes we had was sitting and teaching the commands then playing musical chairs and giving commands. Very interesting to see which dogs got it first. Pyrate was great at that. I could give him a command from behind other people on the path, such as wait, and he would stop in his tracks. It was very rewarding to see him do that in front of my trainer's wife and another GSD owner whom I respected. We were all walking in the woods on loose 30' leads. Someone mentioned a possible Key Deer ahead so I just told Pyrate to wait. He stopped so suddenly they almost tripped over him.
Amorette Vom Godinghofer of Summerland (AKA Abby) 5/21/15
Snake Vom Eselspfad RN CGC (AKA Raina) 3/5/08
Pyrate CGC 4/1/03-5/16/12 RIP
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Too many to list waiting at the bridge but remembering them all