Wrist strap We don’t take him out unless he has it on.
Reins. I've got a backpack with one attached and then one that goes bigger for when he's got a big coat on. He loves them. Gives him the freedom to explore and walk independently while me the security of knowing I have him and he's not going to get hurt/lost.
I got a backpack with a leash. This way I have her secured to me, while also having my hands free. She loves her backpack, and it also taught her to stay with me. Now I only need to say stop and she will stop, turn around and walk back to me And the leash also prevents people from walking between us