I can be a lazy dog owner sometimes, just like everyone else.

I’ve never taken the time to teach my Beardie how to walk politely when on leash. He walks well off leash so it’s never been a priority for me.  When I need to take him to a new area or think I need some control, I’ll put on his Sens-ible walking harness so he doesn’t pull while on a flat collar.
I’ve done what I’ll call “opportunistic training” which by my definition simply means I’ve reinforced him for position when he happened to be there. Sometimes I will do a mini training session while on a walk but there is rarely intent to train ( as in have a plan).
Part of the reason is I’ve got two dogs and while I try to get them out individually at least once a day, it’s not always possible.
I will haphazardly use the term “heel” – defined as “remain close to my left leg and walk without pulling” but I have never truly trained that cue properly.

Over the past few days, I’ve begun to work on teaching him to walk on leash without pulling – officially.

I began with changing the cue. “Heel” was rendered irrelevant as it was never used correctly. 
Our new cue is “Follow”. With any new vocabulary comes the need for a definition.
Follow is defined by me as: dog's right ear by my left knee - not behind me or in front of me – no tension on the leash at all.
He has been heavily reinforced for hanging around my left leg so I have a good foundation to start with.
I was able to start with stepping forward, adding my cue “follow” and rewarding him for position.
I rewarded continuously at first and was able to quickly move to random reinforcement.

I am alternating cues between “follow” and “go sniff”.  My expectation is when I give the cue to follow, come back to my side and walk with me. If I say go sniff, you can do what you want until told otherwise.

Progress so far is pretty good. Today I tested his response to the cue by using it when he was in front of me, leash dragging. It was great! 
It's a work in progress. The difference now is I am intentionally heading out for walks with him to do training sessions.  
Like I tell my clients, 15 – 20 minutes a day of training makes a huge difference!