Inflatable harness airbag assemblies are disclosed. The airbag assemblies can include a housing, an inflator assembly, and an inflatable cushion. The inflatable cushion can include a first lateral chamber that is configured to deploy at a first lateral side of a vehicle occupant, and a second lateral chamber that is configured to deploy at a second lateral side of the vehicle occupant. The first and second lateral chambers can be configured to receive at least a portion of a head and a torso of the vehicle occupant during a vehicle impact event.