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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).
This dog illustrates how hard it can be to read tails. He face looks happy, but his tail looks like he may be alert or aggressive. However, since he is a doxi/chi mix, that could be his natural tail set. We have all heard the common myth that a wagging tail means a happy, friendly dog. While it is true that dogs do wag their tails to express happiness at seeing a person (or dinner!), dogs also wag their tails to show other emotions. In fact, dog tails are more like human faces, showing their emotions through movement and position much like we do with smiles, frowns, pursed lips, etc.