I absolutely SWEAR by the Puppia harnesses.
Nikko is a total wiggle worm and he hated his step in harness. He always tried to bite me whenever I put it on. I got him a Puppia harness and he absolutely loves it. He even licks the harness while I'm putting it on him.
It is very soft and plushy and I think its really comfortable for him. They come in lots of sporty colors too. They are a bit pricey but worth every penny for anyone who's yorkie is a harness-hater like my boy!!
