For Leaders: Once you are comfortable with the idea that it's easy to softly turn when walking or weight changing, and that you can weight change any time you want, navigation becomes easy.

For Followers: It's important to realize that responsibility is mutual, even though the leader does most of the navigating. If the leader's going to go back into danger or is not noticing some danger that you see, let him know (usually a small pressure or a tap or a whisper "behind you" will do it).