You need to train your dog not to do this. When you see that the dog is going to jump up you should stick your knee up, they will jump right into your knee. They will hit their chest and it will not hurt them. But, it does show them that you do not want them to jump up on you. Whenever you have company over, instruct them to do the same thing. This give your dog consistency, making the message that it is not OK ever clearer.
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