When I was living with my parents and had Willy (also after I had to give him to them) it went like this:

Trix: She used to strain and yank but I got her to chill out and just walk either in front or on the side at a nice pace.

Willy: Walks ahead at a normal pace. He used to do the same things with Trix but I got him to stop it, eventually.

Little Dog: Doesn't use a leash. She was abused and starts cowering at the very sight of a leash. She likes to walk along side or a tad ahead. She listens very well so nobody has a problem with this.