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How to travel by car with a fearful dog
Introduce your dog to the car.
If your dog is particularly fearful of cars or if it has never been in one before, you'll need to do some basic desensitization work. This should entail getting your dog familiar with being in the vehicle, even if it is not yet comfortable being in there for prolonged periods of time.
Open both rear doors so that your dog can see there is a way out. Seeing that it won't be trapped may help alleviate some of your dog's fears.