Wow, such good advice and info from yorkietalkjilly.
I do want to add that when Piccolo was a puppy she did the same thing. So, I carried her to our destination and had her walk home. Eight years later, reflecting on this action, I think it was a positive one, because she has no problems going or coming now.
The only side note is my neighbors kind of snickered and said in a loving way that we were going on a "carry."