Start them now. I would recommend a figure-8 harness.
First, just let them wear it around the house for short periods of time. As them get use to it increase the time but never leave them unattended with a harness on for bad things can happen if they get hung on something.
Next, attach a short, lightweight leash to the harness and allow them a drag it around behind them. Again, never leave them unattend for even a brief moment.
Finally, let them walk you around the house. Cats are not like dogs - you should always allow the cat to walk you - let them determine where they want to go and how fast they want to move. Good luck and have fun!




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