I trained my dogs to walk nice on a leash by turning around and going the opposite direction when they pulled. By doing that they learned to focus on me and not where they were trying to get to in a big hurry. After doing that a few times they now walk really nicely. They know how to heel but I rarely make them heel on a walk because I want them to enjoy their walk so I let them walk a little bit ahead of me but they still have to walk with a loose leash.....