I have been working on loose-leash walking with Brody since day one, but have never really done a concentrated effort on heeling. I would like him to do something in between loose-leash and heeling, if that is possible. What I mean is a brisk paced walk at my side, but not totally focused on me. Normally when we are walking, he is slightly ahead of me, but the leash is slack. If he ever gets far enough ahead that the leash becomes straight, I stop and wait for him to sit beside me in heel position (close, but not necessarily touching my left leg). When he is walking right where I want him, I feed him treats, but haven't used a clicker for this for quite a while, just reward him for being in the reinforcement zone. I had a session with a trainer who showed me how to correct him by taking a step forward and giving a bit of a snap on his halti before reversing direction. This was very effective, but I don't feel comfortable doing it. Is there a R+ method for achieving the same result, that is keeping the dog relaxed beside me as I walk?