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You go to a location called Scrapyard, which is South-ish of Minefield, go to the northeast corner of the Scrapyard (there will be a red crate), you will hear gunfire, go around the corner, and kill the raiders attacking Dogmeat, he will then join you, he can find ammo, healing items, and stay put if you command him to, he can also be accompanied by another Follower.