Thanks for all the input everyone. I definitely agree that dogs need a leader. I think that this makes all the difference in training. Personally I really like Cesar Millan's methods quite a bit.
Allowing your dog to be the boss does nothing good for you, or your dog, in my opinion. Those ideas may have originated in the 50's, but that doesn't mean they are no longer relevant. That is way we have been big with boundaries for miss Maddy. I do not think alpha rollovers, hitting, etc. are appropriate either, but firm leadership and house rules are.

Lately I have gone back to what I did before with Maddy - let her sniff around on walks, but if she pulls, or we cross the street, or I ask her to stop, we do not continue walking until she obeys. She always lets me go through doors first, and will not follow me in until I ask. So I would say that just staying in control but allowing her to do the sniffing thing on occasion has made us both very happy!

Maddy's favorite thing to do on walks now (when not heeling) is scoop up snow so that it sits on top of her nose. That always makes me laugh!

BTW, Lori- there is a plastic prong collar called the Good Dog collar that can work quite well for training. Our obedience teacher says they are more humane than chokers, because they pull evenly and do not require as much force. I have tried them on my own arm and find that to be true! They are considered to be very safe, and don't "poke" as much as the metal ones. Personally these have worked much better than Halti's or standard chokers for me.