A harness is basically like a tshirt with no cloth, if that makes sense. Just as you pull a tshirt over your arms and head, a harness can come off the same way. It usually happens if you are tugging the dog forward and he is pulling backwards. With the front legs stretched forward and braced, and the head down, the harness can slip right off.
Besides making sure the fit is good, try to avoid pulling your dog like that. It can be tough if your dog has decided to plant himself on the sidewalk and you need to get moving. This happens to me sometimes when I walk rescue dogs, since a lot of them tend to stall, or decide that nope, we are not walking back, we are doing another lap in the park.
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