Next week you will be clipping your dog's toenails as part of his training to accept restraint. To prepare for that, here is a warm-up exercise. Down your dog and roll him over onto his side. Then handle each of his paws. Squeeze them as firmly as you will when you cut his toenails. Release him with an "okay" and reward him.
If you have already tried unsuccessfully to cut your dog's toenails, you may have to overcome toenail clipper phobia. Start by placing the toenail clippers by your dog's bowl when you feed him. Then put your dog on a sit-stay and reward him for staying while you hold the clippers in your hand. When he is comfortable with this, progress to putting him on a down-stay and touch his toes with the clippers. Be generous with your rewards.
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Fundamentals of Dog and Puppy Training. Although dogs shouldn't be attributed with having human characteristics, they are intelligent enough to be able to understand the concept of, and execute, certain actions that their owners require of them - if these actions are asked in a way that dogs find rewarding.