We all have different reasons for walking our dogs. Some of us see it as our own opportunity to exercise, others think of it as a chore that needs to be done and some of us look at it from the dog's point of view.
I think of it as an opportunity for my dogs to explore the ever changing smells, sights and sounds of the neighbourhood. They need to check mail (pee mail that is) and leave a message where necessary.
I try to approach each walk as their time, not mine. 
It can be challenging with two dogs. Both of mine have very different needs. One needs to run and chase, the other is happiest  strolling along. For that reason I try to do one walk together and then provide an individual walk later in the day. Some days I cannot do multiple walks and that's just the way it is.
What I have learned to do with my older guy, is to stop when he stops and walk when he's ready to continue on. He likes to simply stop, lift his nose, and inhale the ever changing scents that surround him. I don't care what direction we go in and often let him decide.
Wait! Is he being dominant?? Am I letting him be Pack Leader because he decided which way to walk??

Nothing could be further from the truth. We are enjoying a mutually beneficial, respectful, loving relationship.