Even with these precautions, having a pet is going to take a minor toll on your lawn, so be prepared to perform regular maintenance. Fill in bad patches of grass with seed or sod, and be sure to use plenty of water and fertilizer to keep grass healthy and strong.
It will take time for your dog to adjust to proper lawn behavior, so supervision and training is key. If you're away during the day, keep him inside until you return home and can monitor backyard play. Offer plenty of positive reinforcement when he follows the rules, and let him know when he doesn't. With the help of diligent training early on, your dog will eventually learn to stay within bounds, and you'll have a yard that you both can enjoy!