We use the "off" command to get our dogs off of someone or something like the couch. Some people use "down" to get the same result. The verbal command is less important than teaching your dog the lesson. So, when choosing the right command for your dog, pick something that fits your style and stick with it. Make sure you start training by reading MetroSniff's 5 Cs of Dog Training - A Foundation.
Training Setting
This lesson is often taught in practice so a quiet area is not necessarily going to be needed. As this is a correction command you will end up teaching your dog this command as your dog is jumping up or is on places where pups are not allowed.
Supplies
You can have some treats on hand for when the opportunity to teach your dog this command arises.
Step 1
The moment your dog jumps up on you say "off" and quickly turn your back to your dog. The moment that your pup backs off and plants all feet on the floor you can treat and praise. You can ask your dog to sit immediately after giving the "off" command, simply praise and treat after your dog sits. You must have full cooperation of family members as everyone should practice the same command so your dog learns that jumping is never ok. Continue to practice until your dog understands.
Step 2
Once your dog understands that it is not ok to jump on family members you can take your dog out for a walk. When your dog jumps up on strangers tug the leash and say "off" and or "sit" if you are teaching them together. When your dog steps back praise and treat. The key is consistency, your dog does not understand "sometimes" or "maybe" so make sure everyone is treated the same. No jumping means no jumping, period.
Step 3
You can also use the command for keeping your pet off furniture. When your dog jumps up on to the couch say off and gently help them down if they do not understand. When they are on the floor you can treat. Eventually your dog will understand and should only need the command. This is the same as with jumping on people, if you decide there is no sitting on the couch you should always follow that rule and be consistent. It does not matter if its Christmas or your dogs birthday, having sometimes or maybe will only confuse your dog and undermine the training.
Use the training as often as possible and make sure everyone in the family is on board with the rules. Even if someone says "it's ok if your dog jumps, I am a dog person" you need to keep your dog off for consistency.
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