By playing some simple games like fetch with your dog, you can kill 2 birds with one stone. First is that the actual playing of the game will surely tire them out so much that they won’t have the energy to jump the fence. Second is that you are associating the fun of the game with the yard. If they have fond memories of the yard they will be less likely to try and get out.
Why do dogs jump up? A plausible explanation arises from their ways of communicating with each other. A puppy greeting an adult dog often licks the adult’s muzzle -- a polite, deferential behavior. Dogs, of course, descend from wolves, among whom muzzle-licking is how pups get the grownups to regurgitate food for them. Domestic dogs rarely nourish puppies this way, but muzzle-licking has survived, maybe because deferential behaviors are handy for a social animal. Think of humans saying “No, after you.” Muzzle-licking is also an appeasement behavior -- something you trot out to de-escalate a fight. A human might lift up his hands, palms toward the person he’s arguing with.
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