Okay , take the tweezers adn place them as close to the ticks head as possible and wiggle back and forth pulling the tick out. The head may or may not come out. Flush the tick down the toilet. IF the head did not come out the dog's body will recognize it as a foreign body and build up a sight infection near the sight and expel the head that way.
If you see any difference in the dog with walking then see your vet. You can wash the area with antibacterial soap and put a triple antibiotic ointment on the area but most times this is not necessary , but some feel better doing that.
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Just got an answer on answers.com where they say they found a dead tick embedded in the skin so I guess I got my answer from them.