We have this one for Ozzy...
Petmate Nylon Dog Harness - Harnesses - Collars & Leashes - PetSmart
It works well, he hasn't gotten out of it.
We also got him another one that looked like it might be really comfy and cover him better but he has gotten out of it, even at the smallest fit settings. I can probably find out which one it is later tonight and post a link or pic.