I want to make a suggestion... please don't take offense
....
I think you may need to 'lighten up' a bit, on them and yourself! Remember, you are working with a very young dog and a puppy! And they have Yorkie in them! It's a major accomplishment just to get harnesses and leashes on them, and to get them out the door. You should be proud! (only slightly kidding). But really, you need to lower the bar just a tad.
Try to find some enjoyment in their antics, and relax a little, and laugh... out loud. If you expect less from them, you won't feel so bad, and you may end up feeling better as they learn and adjust. Baby steps. Also, if you're feeling all hyper about how they walk, they sense that through the leash, and it can make them worse. Practice 'Laugh Therapy'. Just laugh out loud about something, it will help relax you.(and them!) Make it fun... goes for training, too.
Try playing ball with them in the yard for 30 minutes or so before you take them out. Wear their butts out a little bit... it may help them to relax more. Also, practice just standing, like if you run into a friend and have a conversation. Let them sniff around, but don't make any forward progress for a few minutes.
When you're walking, if they're being crazy, walk faster for a bit... if you speed up... it will keep their little minds busier with walking than silliness.
Last but not least, sometimes I am just not up to handling all four of mine at one time. I'll take two out and then the other two go when we get back, or sometimes I take one at a time, and work with them on individual problems. If they haven't been out for a week or two, like when I have back problems, they are all total maniacs for the first couple of days till we get back on track. I really don't expect much from them on those days, and consider it a job well done if we make it back to the house in one piece! They do get much better by the 3rd or 4th outing, knowing they'll be going (as in 'routine') can help settle them down a bit. Longer walks help too.
And don't expect the entire walk to be perfect. It won't be. They'll see a squirrel, or like Tinkerbell, a car and try and chase it. Or kids on the street with bikes and all sorts of distractions, other dogs or the occassional cat.
Some people may judge you by your dogs' behavior on leash, but I for one know better. Each animal is different and responds differently. I judge you by the fact that you are concerned, you are getting them out for walks, and you are seeking help, and you are aware that you may need help. This makes you one fantastic dog owner. I think dog training is always a work-in-progress, there will always be room for improvement. And there will always be days that things could have gone better, and days when you think someone swapped your dogs out for a different pair.
Enough, Love and Hugs to you and yours, and get out there and walk those puppies!
