An animal restraint device restrains an animal relative to a vehicle seathaving two lower anchors laterally spaced apart at a rear bottom of the seatand anauxiliary anchor separate from the lower anchors. The harness includes a chestpanel and a plurality of straps for securement about the torso of the animal.Twolower tethers are securable between the harness and the two lower anchors ofthevehicle. An upper retractable tether can be secured between a separate upperconnector on the harness and the vehicle. In one embodiment, a retractabletetherassembly is coupled between the harness and an anchor on the vehicle typicallyusedfor anchoring the upper tether of a vehicle child restraint seat. Inanotherembodiment, an adapter allows the seatbelt of the vehicle to be used as theupperretractable tether.
