to heel

Close behind someone, as in The dog started chasing the car but Miriam called him to heel . This expression is used almost solely in reference to dogs. The heel in this idiom, first recorded in 1810, is the person's.

Under control or discipline, as in By a series of surprise raids the police brought the gang members to heel . This expression alludes to controlling a dog by training it to follow at one's heels. [Late 1800s]