FDSA just finished up a really great class on teaching the foundations of heeling, which has involved pivots. Lots and lots of pivots. My girls and I have been doing pivots until we (I, at least) are dizzy, but I can see where it's starting to pay off.
This class Fenzi Dog Sports Academy - FE105: Get Focused!
is coming up in the next session, and I'd recommend it to just about anyone.