Rags and Wolf got quite used to being tethered near the 'van using a 'spiral tie out stake' and 'tie out cables' - available, I note, from Pets at Home or lots of other pet supply places or caravan accessory stores. Wolf is no longer with us and new dog Gryph (7 months) has yet to learn to accept being restrained. I'm sure he will. Or, when relaxing outside, we hang on to one or both as Blue Yonder does with Boris.