From what I have "heard", the natural mating instinct should be enforced by keeping a female dog around to accomplish this goal.
Once the dog has smelled a female, ready to mate, it can be taught to mate with a human that gives of a similar scent.
If that mating process is succesful, meaning that the dog was able to...well, MATE (which is quite a lengthy process from what I have heard), that behavior can be trained.
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