Abstract: A soft restraint device for restraining a person to a frame, such as a bed frame, is disclosed including a waist strap, a pair of thigh straps, a pair of knee straps, and a pair of ankle straps. The restraining straps are innerconnected by left side and right side longitudinal straps running along the outside of the person's legs and left side and right side longitudinal straps running along the inside of the person's legs. Stirrup members are provided under the feet. Inter-leg straps are further provided preventing abduction of the person's legs. Restraining straps, such as tethers, are provided to secure the strap structures to a bed frame.