Beware... having both a relaxed heel and a focused heel for the same dog can be tricky. I trained my dog to heel on a loose leash initially. Later, I added a focused heel for IPO. When she gets distracted, my dog will maintain correct heeling position (due to muscle memory and that being the position for the first heeling she learned), but her focus is not steady and she needs additional help to stay focused for a complete routine.
When I get my next puppy, I am going to immediately start teaching the heeling position I want the way ME does in this engagement exercise. In fact, I am going to start all of the exercises in this video (charging the mark, focus, basic position, engagement) as soon as puppy comes home. https://leerburg.com/flix/player.php/717/Keeping_Your_Puppy_Engaged_with_Michael_and_Cappy
Not saying that I won't have a relaxed walking heel, but that with a dog that I plan to do IPO with, I want to build a better foundation and teach focus and position first. After my experience with my current dog, I believe that I can allow the dog to relax later, but that focus and engagement need to be emphasized in the beginning.
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