A child restraint system (CRS) offers a safe, compact, configuration flexible, and easy to use restraint for a small child in a vehicle or aircraft. The child is secured in a five-point harness attached to a framework. The framework is in turn attached to latches secured to the vehicle or aircraft. The CRS may be configured in forward-facing or rearward-facing orientations depending on the size and age of the child. Further, the CRS harness may be equipped with a swaddle vest for securing especially young or small children that are too small for the standard five-point harness. Finally, the CRS harness may be attached to a headrest anchor that is situated between a seat and a corresponding headrest when no other suitable latches are available.