The expression relates to the way the word "heel" is used as a verb, which means to follow closely behind someone. The most common usage is associated with dog training, where a basic instruction seeks to accustom an animal to follow closely behind its master. As one might imagine, the expression for people is quite belittling. "To bring someone to heel" means to modify the behavior of another person to conform with some standard. A wife might bring a straying husband to heel.

it is force someone to obey you eg.Andrew is attracted to that pretty girl and no matter what his friends said , she will always be able to bring him to heel