We work with Josh and Ruby, a six-month-old Goldendoodle, on heel training during structured walks. We explain how Ruby learns to keep her head next to and slightly behind Josh's left knee, follow his pace, and avoid pulling, lunging, or zigzagging. We emphasize the importance of separating heel training from free time, where Ruby can explore, sniff, and play freely. We demonstrate the pressure-on, pressure-off method: when Ruby leaves the correct position, pressure turns on, and when she return