I'm confused... it happens alot as I get older! Why do you want the dog to be at your side when you take it for walks? I personally don't want mine heeling in position when I take them for walks as long as they are not pulling on the lead. It's a better walk for them and me plus it undermines when I do teach heeling. When in a heel position the dog is to give you it's attention. When walking, I want the dog to enjoy it's walk instead of focusing on me.

Don't get me wrong. I teach obedience. Heeling is a very valuable learning experience for a dog but I don't think it needs to be reinforced during a casual walk. Are you really just wanting to know how to get the dog to stop pulling on the leash when you go for a walk?