The below section is from Cesar Millan. This gave me a idea of how walking Chloe and Bailey on leash for long distances helps them.
In his first book he talked about how a homeless person's dog is so well behaved.
So at least three times a week we walk on leash for one or two hours. At least once a week we walk downtown Walnut Creek so they are comfortable with traffic and people.
I figure Chloe and I have logged 600 miles in the last 22 months of leash-time walking. Bailey has about half that. They both must stay on my left and just behind or to my side. Bailey, being the young gentledog he is, stays to the outside to protect his older sister.
"The single most powerful tool we have for bonding with our dogs is the walk. Walking is a primal exercise that awakens all of her pack instincts. No amount of toys or treats will make her happier than a brisk, hourly walk by your side. Yet the walk is one area where dog owners seem to have the most problems. Most people have the dog out in front, pulling them forward. I’ve asked the reason for this and I usually get, “She loves her freedom.” Freedom?
A dog is a pack animal and what she really wants from the walk is leadership and structure. To me, the best role models for great dog walking technique are the homeless and the service dog-using handicapped! Why? They seem to better understand the concept of canine pack leadership. The leader is always in front during the walk. And for many homeless, their dogs often aren’t even on a leash – they choose to stay behind or beside their owners.
Of course a dog wants to sniff the ground and pee on a tree during the walk, but it is important that we as pack leaders understand that we should be making the “when and where” decisions for them. Following our rules gives the dog confidence because she’s working for every privilege she gets." - Cesar Millan