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I let Sassy walk around without someone holding the leash, as she follows me and comes when called. She also stops when I say stop or step on the leash. But I will NEVER ever let her off the leash with just a collar on. I feel if something distracted her and she ran I couldn't catch her. I have the leash on just in case so I can grab it anytime. I think its good for a dog to have some independence but not completely off the leash unless in a park or fenced area.
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I can walk my cat on a leash, but he "heels" without a leash and usually stays on our property when we walk in the yard.
If your dog doesn't cooperate with the leash tell him about my cat and he should feel bad enough to cooperate!
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Always. I will take no chances with my dog. On another BB, the moderator (a vet) once...one time... took his dog out front without a leash and the dog bolted. He was killed by a car right in front of the vet's eyes. I will never forget the story. I would rather be safe than sorry.