I've rescued and trained 2 emotionally traumatized dogs into service dogs and one hard headed street living pit bull. I'm firm, loving and consistent. They know what I expect and are given love for their good behavior. Hard voice for bad behavior. I'm told by everyone that meets my dogs that they are very well mannered. Given time they heel off leash. I don't tend to teach tricks but to each their own. It can be done. Sit, heel, stay, wait, down. Stay here....means stay in your yard....no fence needed. My dogs walk on leash in tandem for when leashes are required. So that's about it. Bare bones dog training. Well behaved happy dogs with enough control to keep them and others safe. The end.