This is the most comfortable harness I've had the pleasure of using. The reason being is that the straps are wider then most other harnesses. I am 5'10 165lbs and I chose medium. This is the most ideal size for my weight and build. The inner lining is built with super comfortable fleece and is extremely sturdy. The adjustable and clip release leg straps makes putting on the Bod like second nature. You really can't go wrong with this harness.