Sounds like you want to just get Daisy used to walking with a leash.
Just normal walking is easily taught, but folks usually start at a very early
stage in development. Some pups don't like it at first, but with patience,
eventually catch on. There is also a walking "at heel" method that is a bit more stuctured & precise. You could probably "google" dog leash walking,
and get a ton of methods that teach the same basic thing.