At the risk of offending some sensibilities, two words, control (prong) collar. My sweet, but a bit unruly, lab, may he rest in peace, would have been walked a lot more if I had known of that wonderful device.
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my rescue lab was found wandering in the deep south and would pull out of any collar in a total panic (Lord knows what she went through)- the only collar we could use with her for a while was a choke chain...but now she enjoys a pretty pink collar and the expanding leash and is tails up!
harness works well for escape artists and is easier on them
We tried a choke chain but my Aubrey was so frightened of the world she would strangle to death before she could calm down.
She was never socialized and then got loose, ran, had a litter of pups underneath a trailer she had to fend for, before a rescue group was notified.
The control collar anchors her to us and she knows she is always protected. We have worry-free walks and she's a happy girl. I love, love, love seeing happy dogs on a walk!