Both the Memory Foam Step-In and the Escape Free Memory Foam harnesses uses memory foam padding, but they have key distinguishing features that set them apart from one another. Here are the main differences between the two harnesses: The Memory Foam Step-In does not have the Escape Free Functionality of the Escape Free Memory Foam. This means that the harness does not tighten or contract when the dog tries to pull by backing up. The Memory Foam Step-In incorporates a scratch-resistant layer, whereas the Escape Free harness primarily utilizes neoprene material. The Memory Foam Step-In uses a breathable inner mesh lining while the Escape Free Memory Foam uses fleece.