Safety harnesses for positioning and climbing have one D-ring on the upper back, two or more D-rings on the hip straps, and one D-ring on the chest. The hip D-rings connect to positioning and restraint lanyards that help keep the wearer positioned correctly while working at heights, leaving his or her hands free and reducing the energy it takes to stay in place. The chest D-ring allows the harness to be used with a ladder-climbing system to provide fall protection if the wearer slips while climbing or descending a ladder or tall structure. The back D-ring connects to a self-retracting lifeline or shock-absorbing lanyard that attaches to a secure anchor point. Safety harnesses for positioning and climbing are often used in wind energy, construction, mining, and utility applications.