100% of the time after she turned 2 year old.
I used this book to train her.
http://www.amazon.com/The-Raising-Puppy-Monks-Skete/dp/1598870513
Shwon ever needed to be on a leash and she never ran away, approached other dogs, approached people, ran after dogs/cars/kids, never begged, etc.
We lived in a no leash law community.