When a dog "comes to heel," it means that the pet has learned to respond to commands and has been trained to walk right beside its owner without pulling on a leash or causing any trouble. There are several synonyms for "comes to heel," including "heeling," "heel training," "train to heel," or "heeling behavior." These phrases refer to the same outcome, which is a well-behaved dog that obeys its owner's commands and moves in sync with its human companion. Whether you're a new pet owner or an experienced trainer, practicing these skills will help you and your furry friend build a stronger bond and enjoy more peaceful walks together.