I take mine out on leashes most of the time and I am teaching them to wait behind me until I go out first - pack leader thing..
They are learning it really well. Now they will (usually -they're still learning) wait behind me till I open the door and step out and tell them OK. Coming in, I do the same thing. I tell them "wait", then I go in and they come charging after me. I also tell them that mommy goes first - kind of silly but they ARE learning it - pretty quickly too and I am teaching three of them.