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I think it sounds like you're doing great by changing directions frequently. You can also stop frequently and ask for a sit until it becomes automatic that she sits. Have you ever used a clicker? If you click when she's walking nicely and pop a treat in her mouth while you keep walking, she'll learn what gets her the good stuff. If she steps in front, just keep walking, being careful not to trip. The minute she's at your side somewhere near a heal position, (not a formal heal) click (or if you're not using a clicker, use a quick word like "yessss" in a happy voice and pop a treat. As long as she keeps in a good position, treat frequently, every few steps that she is correct. Later you can lessen the reward. But at first, really show her the difference between getting a treat for one position and NOT getting a treat for the wrong thing. The clicker or "yesss!" is a nice short sound that will mark that moment that she is doing right. Be sure and get your timing right on so she knows exactly what it was she was doing to get rewarded. Just be consistant, praising/treating when she's walking nicely and not praising or treating when she's not. She'll get onto it. It takes practice and patience. It won't happen overnight. You don't have to do anything that isn't fun, like hold her too tightly or scold, jerk....nothing. She'll work for the reward once she knows what it is that gets her the reward. Make sure the reward is better than whatever it is she is wanting to do. (ie: special treats, mozerella cheese, homemade liver treats, hotdog) Make sure they're tiny pieces.
You want your dog to stay very, very motivated when she's working with you. If there's unpleasantness, tripping, stepping on, yanking the collar...any of that, she may not love going walking as much as when it's ALL good. Also, for other training or sports...if you ever want to do any agility or anything, it's good to keep the dog's drive strong and it's not good to squelch it. Just re-direct it. Working for you should be fun and rewarding, not worrisome about what may happen to her.
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