The Heel or Finish command as some call it is not an easy command to teach a dog and that is why you see very few dogs in the public that have this skill. The Finish command is primarily done in sport dog training circles because it’s a requirement in most dog competitions. This command takes a very good touch and feel from the person teaching it for it to be executed well and to look stunning to the observer because there are many training factors involved to pulling it off. If you are one that wants a challenge with your dog then this command would be the one. GOOD LUCK!