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Sit
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Teach your dog to sit by saying your dog's name and the auditory command "sit" and then applying pressure to your dog's back until it lowers itself to a seated position. Keep your hand on its back for a few seconds so that it stays seated, then release and allow it to stand up. Repeat these actions multiple times until your dog forms an association between the word "sit" and the act of sitting. This should be done while your dog is on a leash so that you have more control. Give a treat only when it sits on its own, without your hands pushing it down.
Stay
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Once your dog has mastered "sit," you can teach it to "stay." Have it sit, then say its name followed by "stay" and walk away from the dog. Purposely take your eyes off it by pretending to be distracted by something and see if the dog moves. If it moves, have it sit again and repeat the steps until it stays. This should be done on a leash so that your dog doesn't run off. In the beginning, you should stay close to your dog. Once it's comfortable with the "stay" command, you can step further and further away from the dog and practice off the leash.
Come
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Train your dog to "come" when you take it for a walk. Have it leashed, but allow it to wander. Say its name and then "come" and tug on the leash until the dog is at your side. Take it by the collar and hold it close to you for a few seconds before you release it. Repeat these steps until it comes without you having to tug the leash and stays by your side until you tell it to go. Give the dog treats when it comes on its own.
Heel
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Use the "heel" command to get your dog to walk on a relaxed leash. Walk your dog on a leash, and if it runs ahead or lags behind, say its name and "heel" and then jerk the leash. When it stops and looks at you, praise it and keep walking. Jerk the leash sharply but make sure you're not hurting your dog. Repeat these steps until your dog walks with the leash slack and relaxed.
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Training Commands for Dogs
When training a dog, you should use either auditory or visual signs to indicate what action you want your dog to perform. An auditory command should have the dog's name in it and should be spoken in a firm voice. Say the command only once, and then put your dog in the proper position. For example, if the command is "roll over," you would say, "Charlie, roll over," substituting your own dog's name, and then gently coax your dog to the ground and flip it over. Avoid yelling, becoming agitated or being too rough. Your dog will sense your bad mood and refuse to cooperate.