Before Susie was old enough to go out with me when I was riding my horse, I taught her to wait. If she started to go to far in front of me I would say "wait". I started her on a long lead to start with. I have to cross a couple of roads to get to where I go riding around the two Lakes so it was really handy to tell her to wait when she got to a road, plus being a lot safer. When I was riding in the open fields if she started going too far, I would just turn and ride the other direction so she soon learned to keep track of me.