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Good advice from DJ. Also, when a dog approaches and you are both with Rudy, does one of you greet the dog so he can see that it is OK? Dogs pick up on so much from us, so if you are both even slightly nervous/anxious about what will happen or Rudy's reaction, that might increase his own nervousness. If you are both confident with the dogs you meet in the park, you are leading by example.
Markyboy
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Thanks for the tips.
That is basically what we have been doing when we take him to the park. We have two parks in close proximity to our house which we take him to for shorter walks, and he is noticeably more anxious in the park where it happened.
We are going to avoid the park where it happened for a while, and mostly take him to the other park where he seems more relaxed and interacts with other dogs better for a while, and see if that helps.