I only stake them out when I'm in the yard nearby---like if I'm gardening, cleaning the car, having a garage sale (which of course the visitors LOVE). I NEVER go in the house and leave them alone. I'm too afraid they will get caught up or a dog/coyote will come along. The goats love being tied out, though.
I got my tie-out stuff from Wal Mart: a corkscrew dog tie-out and nylon-covered steel dog cable. Attached to a wide, thick nylon dog collar with metal buckle, tight enough that it won't slip off, but loose enough not to interfere with breathing and eating. Works good. Don't use any kind of leash/rope that a goat can chew through.
I'm personally in that camp that says don't tie out for long periods where they are not supervised at all times.
