I've used the Halti/Gentle Leader and the voice commands. My dog picked up on it pretty quickly. He knows that when we run, we RUN... no sniffing or poking around. When we walk, he gets to do doggie business.

When he was first learning that "Let's Run" meant exactly that, I carried cheese and treats in a little bag at my left hip. He stayed at my left hip, cuz that's where the goodies were! If he ran politely, he got a goodie. Lots of goodies later and he really understood that he had a job to do when we ran.