I know what you mean by wanting to have him in the front seat with you, I also always want that, here are the two products that work great for that.
Snoozer Console Lookout Dog Car Seat | Booster Seats | PetSmart Perfect, it basically adds another seat
and
Top Paw® Pet Safety Harness | Safety Harnesses | PetSmart I just attach it to my seat belt and she sits on my lap.
What ever works best for you