I used to hook up to my sled with a weight belt but now I use long straps (or something like a trx or jungle gym) and pull with my hands, walking backward or forward. With straps long enough, you walk forward with the straps held like you'd be in the bottom position of a db bench press.
This also allows you to actually do pressing and rowing as part of the sled routine. Row, step back, row, step back, etc. Same with pressing.
Unless you're bear crawling or something, the weight won't be heavy enough to require a harness.
In one of Ross Enamait's videos, he used a tug of war rope and pulled the sled hand over hand, sprint away, hand over hand, repeat.
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