It's nice for your dog to get to explore sometimes, and this activity can double as an alternative to a food treat. If you are having trouble teaching your dog to walk, be mindful of when it is your turn to guide the walk and when you are giving them space to explore. Teach them to walk with you using treats at first, rewarding them when they stay with you. Mark this behaviour with a phrase, such as "let's go," which is a sign that they should follow you on the walk. Allowing them to control the walk sometimes can be rewarding for them though, so give them some room to explore. Then can use your phrase, "let's go," to tell them it's time to go back to walking nicely with you.