The heel command can be a very handy command for your dog to learn. It often makes walks a whole lot more pleasant for the both of you. Start off your walk by saying your dog's name followed by the heel command. Keep in mind that you want to keep your dog's attention. Be very enthusiastic with the command and talk with him to encourage him to stay with you. Be sure to praise him when he heels well. A good heel is one where your dog is on your left with his right shoulder aligned with your left hip. If your dog pulls ahead of you, stop walking and have him sit. Once he's sitting, repeat the heel command and continue walking. You can also do this in small counter-clockwise circles if your dog is very insistent upon pulling. This exercise should be repeated often and will take some time for your dog to learn.