It's best to deal with this behavior immediately because once it becomes a habit it's typically very difficult to change. One of the best, and most obvious, solutions is to keep your yard or other areas clean and feces-free. You can also try putting cayenne pepper or Tabasco sauce on the feces itself to discourage your dog from eating it. If your dog is eating his own or even your cat's feces, there are products available that can be added to their food which work by making the feces taste very bad. If in your yard, you can also try diverting your dog's attentions from the feces to something else he enjoys, such as toys or playtime. If your dog is in the habit of eating feces while on walks, it's best to keep him on a leash. Otherwise, a wire muzzle can be used, which will keep your dog from eating anything, but be certain never to leave your dog muzzled and unattended.

Discouraging your dog from nibbling at the litter box can take some effort. Mainly you want to make the litter box inaccessible to your dog yet still accessible to your cat. You may be able to achieve this by using a covered litter box, placing the litter box at a height that your dog can't access, placing the opening toward the wall, or putting it in a closet.

Additional information on why dogs eat feces.
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