For years I have said that control is vastly overrated. In all my relationships I have (unsuccessfully) tried to create an atmosphere of mutual trust and respect. There is no way anybody was going to agree with me on everything, and I want to respect their differences, even if I did not like it. One of the reasons I got a dog was to test this since I was usually unsuccessful with humans.
I hit the jackpot with Lucy, she was really smart, confidant, and eager to see everyone happy, even in disagreement. She and I developed a trust that amazed me. The leash turned into the equivalent of holding hands for humans. She knew how far to go, and she knew I would protect her.
Here the time had come when we had to go home from our romp at the stadium, and she got it. If you get far enough in the video, you will see her look away from me standing at the door of the car, and look at me to see if we could explore a bit more. I was fumbling for my keys, and she was waiting patiently for me.