Best Way to Teach Heel?

[PixieSticksandTricks]

Since I plan to have Sawyer as a service dog I want him to have a good strong heel. I would like to train him without treats as well. So far I have him used to sitting at the door and waiting for me to walk out and invite him before stepping in or out of the house. I have him where he can do a slight heal but it needs work. He is only 10 weeks old so he's a bit bouncy but he is learning. I want to work on his heel and then once I feel good about it take him up the road to the shopping plaza and socialize him there a few times a week.

Also anyone who has trained Service dogs im all open for tips and advice.