Lots of great advice!
I would like to add: I don't think an outside walk is the best place to teach walking by your side. Outside is so exciting! With Snoopy, we started in the house. I would get a treat and have him walk right beside me, and then give him a tiny bit of the treat. I used "walk with me!" in a happy voice. We practiced it outside of course, but the initial teaching was in the house.
I think someone here said the used peanut butter on a wooden spoon, so they didn't have to be bending over.
