Hi , welcome to YT !
I have a carrier I use for Suzi. She is in the back seat, right in the middle.
Placeing your dog in the front seat or in your lap are the worse places for a small Yorkie. Because, if you have air bags , it will kill your dog if they are deployed. Also, on the drivers lap is dangerous because if you were in an accident the small dog would go flying out the windshield, or crushed.
Always have your dog in the backseat .
These little guys are smaller then a child, and we need to protect them in every way we can. Safety needs to be a number one concern.