I grew up climbing rocks. Bosun's chairs and most hoisting procedures give me nightmares, cause my anal sphincter to tighten and my bladder sphincter to loosen...
People get offended when I turn my nose up at their plywood and canvas rotting bosun's chairs in favor of my harness and refuse to use their snap shackles (that can be released under load) and I bring my own carabiners.
The Guru by Petzl is the harness I have. It has HEAPS of padding, is idiot proof (important for me) and size adjustability from newt to gorilla. I've owned it and used it for 15 years or so and have done many a hanging belay from it. It's fantastic.
Yates also makes some sweet harnesses. If you look at their big wall harnesses they have quite a bit of padding and adjustability as well.
"True, your boat will outperform mine to windward, but my boat will always outperform yours at anchor." --MedSailor