I started my dogs both by having them get in and out of the canoe while in the yard. They got familiar with the movement a little, the feel and sound of their nails hitting it, etc. Also I started right away having them wait for me to tell them it was time to get out. Even with the yard training, one of my dogs had a hard time getting off the dock and into the boat on the water the first time - it would have been a lot harder we had not practiced. FWIW, I practiced them going in and out of the tent in the yard too.
I never tie the dogs up while in the boat. I'd be worried about them getting tangled if we tipped, but mainly I just dont have a need. My older dog is not threat to jump out for any reason, and my little one just stays closer to me so I can control while she is still learning the ropes.
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