Walking, regular collar with a leash

The most obvious option for walking a dog is probably the regular collar/leash combination. This is a collar adjusted to fit around the neck and not slip off over the head. This is one of the last steps before you are able to walk your dog off leash. A collar like this does not increase control beyond the point that the dog cannot actually run away from you. If your dog is one who leads you it will most likely be pulling you down the sidewalk rather than being calm and submissive next to or behind you.
With a dog that recognizes you as leader 100% of the time you will have no problem walking your dog with a regular collar/leash combination.
I would not recommend only this set of tools for teaching any dog how to walk properly on a leash or in your pack.