A vehicle passenger restraint system is disclosed. The restraint system has a pair of vertically extending shoulder strap portions, horizontally extending positioning strap portions attached to the shoulder strap portions, and horizontally extending lower strap portions spaced vertically below the positioning strap portions. The shoulder strap portions may be contiguous with one another, so as to form one continuously linked shoulder strap portion. The shoulder strap portions and positioning strap portions may be connected to retractors. The restraint system is particularly suitable for use in emergency vehicles such as ambulances, and may be used in forward-facing, rearward-facing or side-facing seating.