Helen taught us how to train Bo on the command 'wait' early in our journey. The idea is for the dog to 'hold on for a second.' We use 'wait' many times during the day. For example, we have Bo wait at all doors before we open them. We have Bo wait in the car while before unloading him. Sometimes, we have him wait before we give him food.
When we are take off leash walks we may use wait if he gets ahead of us or if we hear other dogs or people. He has a highly reliable wait. If we give the command, he stops and looks up. I took this video on an off leash walk. You see Bo walking with his head down sniffing and then when he hears the command 'wait,' he stops and looks up. I then give him the 'come' command and he immediately comes to me. His willingness to respond to these commands is especially valuable when he is off leash and we encounter other dogs or people. He will stop and come to me rather than run towards the dogs and people.