I highly recommend the Walk Your Dog With Love harness! Cooper loves it :) The founder, Dan Merson, is a MA resident who supports and gives back to rescues to help "bad" dogs get adopted. With your purchase, they also give you the option to spend an extra $10 to donate a harness to a local rescue!
This harness does not encourage pulling since the leash is attached at the chest, instead of the back, so it is more natural for the 2-legged leader to be in front of or next to his/her canine companion. I did not have to spend any time "teaching" Cooper how to walk with this harness and our walks are much more enjoyable now.
Here is a snip-it from the WYDWL website:
WALKING SAVES LIVES
Some good dog owners inadvertently train their dogs to be hard-to-walk. From there it's a
short distance to "unmanageable", and then "bad". Not walking your dog is the direct opposite of building a good relationship with your dog. The less a dog is walked, the less socialized it becomes, the more unmanageable it becomes. Sitting around at home with no purpose is not much of a life. Many dogs are handed over to the pound because they are "unmanageable". There is no nice way to say this: dogs that are considered unmanageable are euthanized - that is a fancy word for killed. Walking changes this; it makes "bad" dogs good and good dogs great.