Teaching a dog to go and greet somebody?

mRawPugsm

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Now i asked a question a few hours ago -> http://answers.yahoo.com/question/index?qid=20101018090251AAVpuIp&r=w

And i was just wondering, sometimes he will go over to the person who wants to say hello, wag his tail a little but stop just before he gets to that person and looks back at me, possibly looking for my approval to say hello then he just comes back to sit infront of me.

So my question is, How can i train him to greet somebody on command?
 
Ok, always walk with tiny pieces of hotdog, let visitors give him and pet him.
 
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