I own the Michael Ellis DVD on heeling. I totally get the training and how to of a "heel". However, I don't need a competition heel for a 3 mile walk.

She tends to walk back wards in front of me as I walk as she is waiting for instructions. So she is super engaged but I want to be able to walk with her without competition heel.

My thoughts on how to do this and am I correct...

Do I walk and mark when she is on my side?
Do I put prong on and use leash pressure and change directions often? then maybe mark when she settles next to me?

I will use a separate command then FUSS something like walk, lets walk or even word heel.

I love the constant attention and being in front like lets go lets go what next but this is difficult when you want loose leash walking.

note:we are in the beginning stages of heeling. muscle memory portion.

I tend to just use praise for regular loose leash walking. I want to get the message across that we are NOT in working mode. Some dogs I can use treats. Other dogs get too jazzed up over trying to earn the next treat to walk calmly.

Here's how I teach loose leash walking:
I use "let's go" for the command and say it right before I do an about turn. At first I wait and just let them figure out that I'm no longer headed in that direction and praise when they catch back up to me. I'll even go with them a bit to avoid them slamming into the end at first. I add a little leash pressure for the dogs who couldn't care less which direction I'm headed. The first few times they hear the command and turn WITH me is where I'll use treats to reinforce it. Once they are solid on it I just say the command, turn, and head in the opposite direction. If the leash catches them and they get corrected that's their own fault. I turn every time they forge or try other fun stuff like going in front of me. Once they are solid on the command you can say it and they'll watch you in anticipation of the turn. They tend to slide back where they should be at that point and you can just praise them for being where they're supposed to be and don't have to turn so much. Kind of a modification of the Koehler method in that I'll wait for them initially but once they know the command a slack leash and proper position is THEIR responsibility. I won't spend weeks finagling them into walking at my side.

In the initial teaching I normally try to use a martingale or a slip collar instead of a prong. I just don't want the dog accidentally slamming into a prong if they don't even know what they're supposed to be doing yet. That's not really fair. I also try to use something like a back yard or hallway so the distractions aren't such a problem.

Alternatively you can just use leash pressure but I like the responsibility for the leash my dogs learn with the about turns.

I use the command "walk with me" when I want my dogs to just walk along side of me but not in a competition heel.

I trick that works with a lot of dogs(especially pups) is to just stop & stand there when they start to act up or not want to walk quietly by your side. No fighting yanking pulling correcting etc...just all motion stops. When they quiet down you start off again. They figure it out pretty quick.

Also when we walk we WALK...no stopping no stepping out if line for sniffing etc. We WALK. If I feel we need a break the I tell them it's ok to sniff etc

Another thing that helps if they start to pull is to change direction (turning & walking the other way). This will keep you dog paying attention to you & what you are doing & not just wandering along. Also keep the leash short alongside of you.
An occasional treat here & there along the way telling him he is a good dog goes a long way ...just make them VERY randomised

I don't think a dog looks at heeling and thinks, That looks just like walking to me.

Different commands for different behaviors.

I use "Foose" for competition heeling and "With me" for keeping the dog within 3-4 feet of me.

I've never seen it confuse them.