Yes, when working from an aerial lift, a personal fall arrest or travel restraint system must be worn and attached to the boom or basket [1]. This typically includes a full body harness and a lanyard connected to an anchor point specified by the manufacturer [2]. The lanyard should be short enough to prevent ejection from the platform but long enough to allow you to perform your work [2].

However, belting off to adjacent structures is not permitted 2, 4.

Make sure to inspect your fall protection system before each use for any signs of damage [3].