I have one that does it every morning getting out of bed...nothing is quite in my house in the morning....once he starts he gets the rest of them barking.
It is very difficult to try and correct this behavior..it easily could just be your size but who knows. Yorkies are very much a one person dog..unless that one person is gone and then they will jump on the next persons lap.
Where did you get your little one from? Was it a rescue or purchased from a breeder? Do you know what kind of home he came out of?