RE: anyone ever fallen in a climber or know someone who has?
HSS - Hunter Safety System vest. They make a great vest that has the harness integrated within it. There are other good ones, but this would be a great place to start.
Look on the cabelas or bass pro shops web site. They have several for your viewing pleasure. You don't have to buy from them, but it is a nice place to go see what most manufacturers have to offer.