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Submissive grinning, sometimes called smiling, is when a dog pulls up their front lips to expose their teeth (check out a video here and a photo here) and it often occurs during an initial greeting (dog to human, dog to dog).
Perhaps the most common misinterpretation of dogs is the myth that a dog wagging its tail is happy and friendly. While some wags are indeed associated with happiness, others can mean fear, insecurity, a social challenge or even a warning that if you approach, you are apt to be bitten.