Aside from being a ducking glass mole and suddenly stopping to sniff if I let her get too far behind me, Roxie's an angel. Doesn't get further than my knee, lifts her paw without even needing a command when the leash gets caught up, etc.
She could do with being more consistent with pulling on harness when we aren't on a hike, though. But her LLW is really good. Took a while to train and I will use a prong if we're going somewhere super crowded/canny collar if I don't care about her heeling but don't want to use the harness, but on just her collar she's great.
I used a chain collar (upgraded/proofed with prong) at first, stopping whenever she got to the end of the lead. Roxie had to back up to a heel, and we'd start again. The chain noise became like a warning- if the links were closing (Rox's neck is 14in and I used a 20in chain), she needed to slow down. If she felt pressure on her neck, she needed to stop and come back to me and sit until I began walking again. I would also give corrections with the chain collar, but for the most part kept the leash the same and Roxie would self correct.
I didn't start letting Roxie pull until she was good with heeling/understood what was expected though, and I had to teach her that it was okay to pull in a harness, but not in a collar. Bit confusing at first for her, but now it's much more pleasant... She knows that she's still going to get to pull and be a dog in her harness, and I think that's really helped her calm down for collar walks.