There is a very helpful website at https://www.aphis.usda.gov/aphis/pet-travel/take-pet-to-foreign-country.
Just select the name of the country you're traveling to -- Canada, in your case -- and then click on "View Requirements".
There's also a section called Helpful References for Pet Travel on that site, as well as contact information.
If you want to check out the Canadian policies on importation of pet dogs, you can go to https://inspection.canada.ca/importing-food-plants-or-animals/pets/eng/1326600389775/1326600500578.