A guide dog apparatus comprises a form fitting guide dog harness, an extensible and rotatable human guiding handle, and a single point attachment mechanism connecting the dog harness and human guiding handle. The harness includes a dorsal panel and a ventral panel. A user handle is connected to an attachment member that is mounted to the dorsal panel of the harness and which includes a clamping gudgeon that retains a pintle attached to the handle in a desired orientation. The apparatus positively couples linear guiding forces in the ventral, dorsal, cranial, and caudal directions. The guiding handle attachment positively couples rotational guiding forces about the vertical dorsoventral axis and the horizontal anteroposterior axis. Freedom of rotation is provided about the lateral horizontal left-right axis. The user is able to laterally adjust the distance between grip and the harness.