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Yes, this is a great way to get the cat used to the sights, smells, and sounds of the neighborhood, whilst keeping her under control. Have her get used to the harness first by putting it on for short periods of time indoors and rewarding her when she's calm. Once she's used to the harness, let her set the pace outdoors, so follow behind keeping hold of the leash. This means she gets to recognize the local landmarks, so if she did slip out past you one night she has some idea how to get home again.
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