From Longman Dictionary of Contemporary Englishcome to heelcome to heelBritish English a) if a dog comes to heel, it comes back to its owner when the owner calls it b) if someone comes to heel, they start to behave in the way that you want them to → heel
Examples from the Corpus
come to heel• Sometimes they succeed in pressuring others to come to heel.• During their bizarre courtship she was his willing puppy who came to heel when he whistled. 