That just takes a lot of work. I had to finally go to a prong with my male because he was just too strong and I was just not very savvy with dogs. I still walk both dogs with prongs, but I work with a martingale when with just 1 dog. It gives me the ability to give a little correction. I allowed my male to pull from day one. My preference is to have a collar that provides the same kind of correction you would need to give in obedience. The illusion collar and the halters don't allow that. However a lot of people really like the gentle leader. You might want to take a look at that.
I can't speak from experience because I did go about this wrong, but what you want to do is every time your dog starts to pull ahead turn around and go the other way. Make them start to anticipate your move vs being the one directing your movement. This may mean you don't get very far on your walks, but eventually they will understand. I have found I do best by having my dogs at my side vs in front of me.
Sorry for this being so jumbled- I'm on my way out of the office for the day and wanted to get this posted. If I can find some good articles I'll post some links for you. Or maybe someone else will see this and provide some good info as well.