Rocky and Bella learned this command in their class, before that it was one of the commands I had no luck with!
The teacher would hold Rocky and Bella at one end of an isle by their leash, then I would walk down the end of the isle, say "Come Rocky!" and she would let him go, then he would run to me. They picked up really good on it, and now if I'm upstairs and their downstairs and I say "Come Rocky/Bella" they usually will with no problems. Just takes a lot of repeating, and she said whenever you call them to come make sure you have a treat so they will be better at this command.
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