Selective breeding. Dogs started off as wolves who would approach human settlements and the people there would throw them scraps of food.
People began breeding them- selecting the ones that were most friendly and comfortable around humans. These traits were passed down and refined from generation to generation until they became completely domesticated. Furthermore they’d breed other traits they found useful which is why some breeds are suited to certain tasks- things like herding, hunting, retrieving, digging, etc.
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