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I just taught it by grabbing my clicker, putting Shippo in a sit, and then dangling highly valuable treats over his head. When he'd kindof sit up trying to reach them, even just a little bit, I'd click and treat. Over time, he'd sit up higher and higher, for longer periods of time during the training sessions, basically teaching himself to balance. After we had that down, I'd only reward him for sitting on his haunches, as opposed to trying to stand up on his hind legs. It took some time because he had to learn how to balance properly, but it is such a cute trick lmao...
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