You said you have an invisible fence. Walk your dog a few feet away from the boundary of the fencing. Work your way up to the point the dog will get a mild zap in the collar. Continue this. It doesn’t take long for the dog to realize his boundaries he has before getting zapped. If the dog is used to running, they might run through the fencing. The problem with this is that they don’t like to come back through to the yard because they know they will get that shock again. Take your time with him. You don’t have to do this all in one day.
Dogs are very intelligent, so it won’t take him long to realize his boundaries.
What Boundary? Fence? Firnture? If you specfiy some more I will be happily help you