Take a pet for a Walk

I don't have any puppies in my game yet but what I do with my adult dog is (Pet Care-Leash) than I click on the sidewalk and choose (Go Here) since my dog is on his leash he automatically follows my sim and once they are outside (Pet Care- Go for a walk, etc). When they are walking there are moments when they stop for a few seconds and I take the opportunity to click on the grass/terrain and don't remember the exact name of the option to choose but starts with "Encourage". Once they return home I click on the dog and make sure he is unleash.