A foolproof method, tested for years. Spoiler: it involves very intense stares.
How we do it in the pack
We always start with short sessions in a calm place, with rewards the dog really wants. When it goes well, we raise the difficulty little by little: more distance, more time, more distractions. When it goes badly, we take a step back with no drama.
Always finish with an exercise your dog already knows. Ending on a success is half the work for the next session.