What is the origin of the idiom "bring someone to heel" and when to use it?

The idiom "bring someone to heel" comes from dog training, where it means to control and discipline a dog by making it walk obediently by its owner's side. In a broader sense, it refers to exerting authority and making someone behave or follow rules. It can be used in personal relationships, such as parenting, when a parent needs to establish authority and ensure their child's obedience. It is also used in situations involving leadership, management, and governance.