Definition of at or to heel in English:
(Of a dog) close to and slightly behind its owner.
- Their big shaggy sheepdogs with matted pelts stayed close at heel.
- Off he would set on his rounds with his faithful collie dog at heel and following, some way behind, was the goat.
- By the end of the song, which has no tune whatsoever, and a performance from the singer that could bring dogs to heel, you feel a bit like squealing and pulling a wacky face yourself.