I use a Premier Sure-fit harness and clip the leash to the chest ring. I find that the sens-ible and similar harnesses tend to drop on the dogs chest. I found the Sure-fit to be the best bet for my hard to fit dog, and it doubles as a car harness, too.
I would try it on carefully before purchase, because I imagine that if the chest strap drops on a dog with stubby legs like a Corgi, it could become a real problem.