I understand stressful dog walks, we have a stressball golden. Without knowing what stressed your walk - I'll guess your dog was pulling. You can try a few things on your own first to help with your dog obedience training.
I'd suggest doing the walk every day and keeping your dog on a 6 foot leash - controlled at your side. If he pulls you can either simply stop until he releases tension or you can also try the reverse direction trick (I use this one). You will need lots of patience, perhaps you won't get far from home for w while, but the dog will get it that they really won't go far unless they follow you/are at your side - no pulling.
You can also try a great method of training called clicker training - which pairs a behavior marker ie when your dog does what you want like walks at your left side you mark that behavior with a sound - in this case a click and then follow that up right away with a reward (in most cases a small treat of food). I recommend any of the Karen Pryor books on clicker training - one famous one is called Don't Shoot the Dog and her most recent one is called Reaching the Animal Mind. This type of training can also help solve many problem behaviors and help with reactive dogs.
If you want to work with a trainer - search for one in your local area that has certifications and is insured and also one that matches your own personal style of what you feel are appropriate ways for animals to learn. Good luck to you all, hope this helped.
Pet Smart is a good place to start looking for a trainer. They offer classes that give you the basics. Once your pet has the basics the training can go in so many different areas.My trainer was a pet smart trainer and he trained a small group of us after hours.
I hope this helps. You can check on prices and classes at this site. training.petsmart.com.
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