As long as Grumpy's not pulling my shoulder out, that's walking nicely to me!
If she is in a formal heel, she has to be right at my side, no going ahead. But I only bother with that on busy streets or crowds. . . for most of our walks she can be a few steps in front if she wants. Just want some slack in the leash - basically she is matching my pace, not trying to drag me forward. Grumpy's not the best at it yet but she's getting better (finally!!) We started to use a Gentle Leader about 2 months ago, when she got big enough to really pull me along. I have found that to be a huge help - and now she has gotten out of the habit of pulling, and walks well on just a collar for quick trips. I still use the GL in situations where we might see other dogs or anything else that tempts her to pull, but we are SLOWLY getting to the point where she won't need to wear it all the time.