You can help your dog change their bad behavior by consistently working with them. Be consistent and stick to your rules, not allowing anyone else that comes into contact with the dog to deviate from what you have taught. Once your strategies and training is etched in stone, your dog will start to get used to them and eventually will behave better. You will be less stressed once your dog is at ease and is obeying your commands; you will feel more comfortable and at ease about taking them out for their daily exercise.