Goal - Contacts Stop without command

Right now Fly knows to stop at the end of the contacts. We have been doing good with all four feet on vs 2 on 2 off. She will stop on my "Wait" command. She will stay until I release her about 90% with very temping distractions such as tennis ball or football.
My goal is to get her to stop and stay until I release her without me having to give the command. She sort of does it now but not well. My first contact will be with the teeter. She loves the teeter and has been know to play on it without me.