The commands I use are 'Heel' (which implies being on my left side, as well as paw behind my heel) and 'Right', but that's incidental. If we haven't worked together you can use whatever command you want, just make sure you have a separate command for each side.
Clients: please stop saying 'heel' or 'heel right' when you want them heeling on the right side, you're confusing your dog. 'Right' means paw behind my heel, parallel to me, on the right side of my body.
Teach it from the ground up or tigthen it using these drills. Don't get lure dependant.

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