oh my goodness, beautiful dog, but stubborn

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i have this amazing beautiful pet that literally puts me to tears. He wants to ride home and back out of his harness, i don't know how to discipline the sweet thing, but he causes alot of heartache and sometimes the mind of his own is too much. He's a german shepard/malamute mix. He doesn't bark he yips and howls and says, "i love you" how can you not love him? anyway, he might need discipline, but i don't know what works. Named after the dragon on mulan.