My Border collie used to pull awful with a regular collar to the point I was dealing with a lot of the same behaviors that you have mentioned. I started using a harness like the one you mentioned also with 2 points that I can attach a lead (one in front and one on top plus a handle). I started working along the same steps that waffles mentioned with the harness and the leash clipped in front. In the house, in the yard, and on quiet roads. As soon as he would start pulling, the harness automatically would have him turned facing in my direction where we would try to reinforce "heel" and "sit/stay". He still gets excited at the beginning and end of the walk because he knows where we are but his manners while walking have improved 1000%. Early on when he would start to pull, I would turn and walk the other direction with "heel" commands so it made him have to be engaged with me because he really wasn't sure where exactly we were going next.