We like to take our dog for at least one long walk (45-60 minutes) and 2 shorter walks per day. We live in the city so we don't have the luxury of letting our dog out into a large yard so we make sure to take matters into our own hands so that she gets enough exercise and has time to enjoy the outdoors. Our dog is not a morning person so the shorter walks (15-20 minutes) tend to happen in the morning and evening and around 4 pm we take her for the longer walk. She seems to like this schedule and since we have been on it for about 18 months she now has her regular dog friends that she sees when we go out at these times.