The other day, Elka and I were playing with Gumby. Maybe we'd just come in from a potty trip, and it was celebratory tug? I don't remember. Regardless. When we play tug, I like getting Elka all riled up and snarling like she really means it, and then having her "drop it" and then either Down, or Heel. My fiancé hadn't seen this mystical "heel" happen, and had us repeat it several times.
Elka will go from facing me into a heel pretty well at this point, off leash in the house, and also in the yard. If she's a bit crooked, I say "Excuse me, straight" and she straightens herself out in relation to my heel, and sits. I can also say "Front", and she'll swing her hindquarters around and sit in front of me. But how did we do it?
(Front, if slightly crooked)