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Submissive grinning, sometimes called smiling, is when a dog pulls up their front lips to expose their teeth (check out a video here and a photo here) and it often occurs during an initial greeting (dog to human, dog to dog).
verb (used without object), grinned, grinning. 1. to smile broadly, especially as an indication of pleasure, amusement, or the like. 2. to draw back the lips so as to show the teeth, as a snarling dog or a person in pain. 3. to show or be exposed through an opening, crevice, etc. verb (used with object), grinned, grinning.