We took Rusty hiking the other day, (Picture Here) and he had a blast. It was only a few miles and he walked in heel the entire time. He walked between us and only broke heel to go potty. It has been awhile since we walked with Rusty in heal, but he had no trouble and enjoyed every minute of it. After our short hike we let Rusty run free as I snapped a few pictures of him running towards me.
We make an effort to take Rusty to hike or play at least once a week to expose him to different environments. The other days Rusty gets his exercise by walking the neighborhood or playing fetch in the backyard.