I think you probably misunderstood about being in a harness and hanging over the table. I've never heard of something like that. Most groomers have grooming tables that the dogs stand on while being groomed. There is usually a noose that they put over their head to keep them from moving too much, stay in the center of the table, and keept them from jumping/falling off the table (although the groomer should never walk away from the table and leave the dog unattended).
I don't three hours is very long to leave your dog at the groomer. It does take some time to bathe them, blow dry them, brush them out, and cut their hair. A lot of times they get done earlier than they say because they usually give themselves extra time in case your dog is hard to work with. You can tell them to call you just as soon as your dog is ready.
The main thing is to look very hard for a good groomer. Don't just go to anyone. Ask your vet who they recommend and even call other vets in your area to see if their is a general concensus on who is the best. Find others with small dogs in your area and ask who they use and if they are happy. Once you get a lot of references for a place or two, go by and see the facilities and meet the groomers. Some of your best places will probably even be booked up for a week or more. To me, if a place is able to take walk-ins most of the time, it is a sign that they probably aren't as good - otherwise they'd have a large clientel base that would keep the appointment book filled. When you take your dog in to be groomed, be very specific with what you want done and what you don't. Even bring a picture in to show what type of cut you want. There are some great groomers out there but you have to look hard for them (because sadly there are a lot of bad ones). It might be a little trial and error with getting the cut exactly as you want it at first so give your groomer feedback when you pick up your dog. Tell them what they did right and if there is anythign you want differently the next time (they should keep records of what they do each time).
Good Luck
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~Magnifique Yorkies~
Purchasing from backyard breeders, pet shops, and puppymills perpetuates the suffering of other dogs.
Educate yourself and buy from reputable breeders or rescue.