A pet carrying system for carrying a pet by a wearer and securing the pet in a vehicle, including a pet harness and a carrier harness. The pet harness includes a pet harness panel and a pet strap coupled configured to selectively secure the pet harness panel to the pet. A pet harness attachment member is coupled to the pet harness panel. The carrier harness includes a carrier harness panel and a carrier harness attachment member coupled to the carrier harness panel and selectively engageable with the pet harness attachment member. A posterior support is coupled to the carrier harness panel and is configured to support a posterior portion of a pet. An anterior support is coupled to the carrier harness panel and is engageable with the posterior support. A carrier strap is coupled to the harness panel and wearable by the user or connectable to the vehicle.
