I used a horse lunge line with Inca and always praised her when she came back to me. I must admit though that when we first let her completely off the lead on the meadows, I worried she wouldn't come back. You have to decide how far you want the dog to go before you become uncomfortable, then call them back and treat. I also found it useful that our other dog didn't stray far so calling one, brought the other back. Sometimes we have problems, when she sees other dogs and races off to play. A really high, silly voice usually brings her back, and then of course, treat. I don't think dogs defy you, they just think what they are doing is more fun than returning.