Actually, you're already doing it. Dogs are amazingly tuned in not just to our movements and words but to our intentions, desires, and feelings. They turn to look at what we are looking at, they anticipate future actions based on past experience, and they put cause and effect together brilliantly. Dogs are always asking what happens when they do a particular action, and the answers they get are what "trains" them. Every time you say "wait" before you let your dog out the door, and then open the door when she sits or moves away, you're teaching a positive behavior. Every time you get up and feed your dog because he is barking in your face, you're teaching a less positive behavior. (In both cases, the dog is also training you, of course.)
Because dogs are so interested in people and our reactions to them, training most dogs is easy. It is also amazingly rewarding and fun. You'll enjoy walks, playing in the yard, and meal time much more with a trained dog, and nothing strengthens your bond with your dog like training. The most effective training emphasizes positive reinforcement, not punishment: teach your dog that good things (treats, affection, forward motion) happen when she does what you're asking. In the picture on the left, Boomer is learning to walk nicely on a loose leash. He is very interested in the treat the handler is holding, and he is learning that when he walks calmly, without pulling or lunging ahead, he gets frequent rewards.
If you have a pit bull type dog, training is especially important. People are often scared of our dogs, and a dog who looks out of control reinforces their negative image. Chihuahas can get away with pulling on the leash; pit bulls can't. Our dogs don't get the benefit of the doubt, even when their misbehavior is minor.
StubbyDog recently published a nice story making the point that training your pit bull will not only help you avoid bad experiences but also can change people's opinions about our dogs. There are many great trainers in our area who offer a variety of classes, from basic manners and puppy kindergarten to advanced obedience, rally, agility, nose work, and more.
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