Her dog yelped and came to heel.是什么意思？

Her dog yelped and came to heel.

她的狗汪地叫了一声，紧跟了上来。

her

pron. (she的宾格)她，(she的所有格)她的，她，指某个国家，（一艘）船；

例句
There was a terrible sadness in her eyes...
她眼神中流露出深深的悲伤。

dog

n. 狗，蹩脚货，丑女人，卑鄙小人；v. 困扰，跟踪；

例句
He dropped his sausage on the pavement and someone's dog ate it, mustard and all.
他把香肠丢在人行道上，不知是谁家的狗将香肠甚至连带芥末都吃个了精光。

yelped

v. 发出短而尖的叫声( yelp的过去式和过去分词 )；

例句
The dog yelped excitedly when his master opened a desk drawer and produced his leash.
主人打开抽屉拿出牵狗用的皮带时，狗兴奋地叫了起来。

and

conj. 和，与，而且，于是，然后，因此；

例句
I spend a lot on expensive jewelry and clothing...
我花很多钱购买昂贵的首饰和衣服。

came

v. 来( come的过去式 )，到达，达到（认识、理解或相信的程度），出生；

例句
She came in for a coffee, and told me about her friend Shona...
她进来喝了杯咖啡，并向我谈起了她的朋友肖纳。

to

prep. 向，朝着，到，关于，属于；adv. 朝一个方向的，到某种状态，关闭；

例句
I suggest you leave it to an expert...
我建议你把它留给专家来解决。

heel

n. 脚后跟，踵，（鞋、袜等的后跟），（四足动物的）后脚，踵状物；vt.& vi. （使）倾斜；vt. 给（鞋等）修理后跟；

例句
The shoe has padding around the collar, heel and tongue for added comfort.
鞋子的鞋帮、鞋跟和鞋舌部位都有衬垫，以增加舒适度。