I almost always take my dog; he's my loyal scout, my buddy, and my companion. His eyes and ears alert me to things I cannot sense myself. Earlier this year he helped me find several trails that were covered in snow, which I wasn't able to find by myself.

He makes backpacking and spending time in the woods an absolute pleasure for me, as much as it is for him. You just can't beat the bonding experience of being with your dog in the woods.

As far as the question of "is it okay?", I would say of course it is okay, assuming a well behaved dog who respects his or her handler, of course.