In the past I've used a no-pull harness for Keiko. When I started working with her to get her to stop pulling so I could get her into therapy work, I used a pinch collar. Now I normally walk her with just a buckle collar unless we are in a new exciting place, then I have to bring back out the pinch collar.
Gunther has only ever needed a buckle collar, although lately he has been a bit of a pain, so I may need to get him a pinch collar too.
I use a coupler for them, which works surprisingly well (better than individually on a leash), when we go to the beach. I also use a retractable leash for the beach. That way, the coupler and leash I can attach around my waist and I don't have to carry anything extra.