I am having trouble with Ivan and heeling. And I don't know how to stop it. If he is in a heel position he has to walk so close to me I end up tripping over his feet or legs. I have not been able to figure out how to keep him from touching me while we are doing heeling work. Even if I let him forge ahead, he ends up slowing right down so that my knee knees him in the butt. Any ideas anyone?