"Heel position" refers to the placement of someone or something close to or by the heel, typically used in relation to a person's or a dog's location beside or behind their owner while walking or standing. Full definition
To prevent this from happening, stop in your tracks and ask your dog to go back into heel position or turn the opposite way so he is once again next to you. (puppy-training-solutions.com)
She'll even walk a nice formal heel position for quite a ways! (dfs-pet-blog.com)
If you ask him to sit in heel position as you continue walking, he probably won't. (dogstardaily.com)