noun

a set of straps and fittings by which a horse or other draught animal is fastened to a cart, plough, etc. and is controlled by its driver.

tack,tackle,equipment,trappings,straps,yoke,gear,equipage

verb

put a harness on (a horse or other draught animal).

how to groom a horse and harness it

hitch up,put something in harness,saddle,yoke,couple