Wave
Like the shake hands command, this involves getting your dog to wave at you.
The training begins by you waving at your dog, do it in a way that is totally different to all the other commands that you use. That is a gesture that is unique.
Gently touch the dogs paw with one hand, whilst waving at the dog with the other hand. Say the command "Wave", and gently lift the paw and wave it too. This may take several attempts to master.
Remember as always praise your dog for good behaviour and reward with a treat. Keep repeating the process until your dog can wave on command.
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