Yup, I run with my dogs daily on the trails- often around 100 miles/week. They love it. I love it. It forms a special bond, I feel like a complete "pack" out there in the woods, and the smells, sights, and forward movement make the dogs content and happy. I have three dogs, so I go without leashes whenever possible. It is legal in the State park nearby, and "voice control" legal in the city. We are lucky.