I think dog parks are a great idea, but I'd stick to the small dog area, especially at first. There are some small dogs who can handle themselves in pretty much any crowd, but let them work up to that.
In general, I think dogs get along better when they're off leash. They don't feel trapped, and I find they're less likely to act aggressively. Also, other dogs are less likely to gang up on your dog when he/she has the freedom to move around and let them know their limits.
When I go to people parks, I leash mine whenever there are other dogs around and don't let them socialize for the reason described above. Even in Petco, I avoid letting other dogs approach mine. Just recently I broke the rule and the other dog snapped at mine. The owner was aghast, but I think it was because they were both leashed.
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