When i used to stay in Ithaca NY, i always bring my yorkie out with me, even into malls and occasionally supermarkets, in my Samsonite Petite Carrier. Colour of my yorkie is so similar to the carrier that no one ever notcies that I have a dog in there.
Over here in Singapore, it's not very dog friendly in most places and definitely a NO NO in malls. So, I normally sneak my yorkie into my DIY tote bag which looks just like any shopping bag