Cesar Millan, renowned for his television show, Dog Whisperer With Cesar Millan, has built an empire around his self-taught skills as a dog trainer. But Millan wasn't always a household name. At 21, he crossed the border from Mexico, an undocumented immigrant who knew no one in the U.S. and spoke no English.

From his ranch, Cesar's Way, where he runs a comprehensive dog training program, Millan talks about his journey to entrepreneurship, the challenges he faced along the way and how he rose to international fame. He discusses what success means to him, the importance of failure and the qualities he looks for when hiring employees. He also talks about his latest projects including a new show focused on rehabilitating and finding homes for shelter dogs and his website Cesarsway.com, what he calls a Facebook for dogs that he consulted with Mark Zuckerberg to develop.

Dogs, he says, offer their own lessons in how to be a better entrepreneur. Here he shares those lessons and discusses what it took to get him to where he is today.

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