I have two dogs, one of them likes to walk besides me, the other one behind me. I don't think she stays behind me because she is afraid, but rather because she wants to sniff stuff instead of keep walking. So I often need to pull her to continue. She could not want to walk besides the other dog, but I don't think it's the cause of the issue.

I use a H-harness in both of them. I do not want to use a choker as I've used them before and find them very little effective.

Any tips on how to make my dog walk besides me?