Legislation

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Leash laws exist for a reason, and if they aren't being enforced in your community you should bring it up at your police department or township hall meeting. Your dog might be good enough with dogs and people to be off-leash, but someone might have a reactive dog on a leash that your dog is going to approach and get attacked by. They are entitled to the opportunity to go out and train their dog, so you walking your dog off-leash is unfair and unethical. Keep your dog on a leash in areas where it is required (most public spaces), and educate others (including police and city hall members) about the dangers of wandering dogs.