Bo is trained to walk at our left side and to keep our pace. 'With me' is the verbal command for this trained behavior. It's commonly known as 'heel.' When he is working on a leash, his leash should be loose. He should not pull ahead or lag behind but instead stay on his mark at our leg.
In this video, Bo is walking with me OFF leash. You see he maintains his position at my left side, keeping pace and visually checking in with me. When I stop, he stops and sits without any verbal prompting. We use food reward based training to teach Bo to walk at our side on and off leash. One of the most helpful training tips I got related to training 'with me' was to be sure I was giving Bo his food reward on his mark.