Maybe the guilt wouldn't be so bad it people didn't call them leashes (a leash is a rope or lead used around the neck or head of an animal). And I have never seen one used in that manner..

And not all parents use the harness to tug and control their children. When I only have 1 of mine with me (3 and 19mths), they are well behaved, and I don't need anything. But when together they want to chase and play with each other. I have the harness on,but most of the time I am still holding hands, and have that as a back up measure for that moment when they are bored, and want to run towards danger. If I am holding the harness, unless they are headed for danger, there is so much flack in the lead part, that they still have their freedom.