Does anyone know of a shuttle company that is waiting for you at the airport when you arrive? So far, the ones I've used took very long once I called them for pick-up.

Thank you.

I suggest taking a taxi (Taxi Parisien) instead. It's quicker.

In order to have a car waiting for you at the airport you'd need to order a car and driver or limousine.

Yellow Shuttle is recommended by a number of posters:

http://www.yellowvanshuttle.com/EN/index.php

Once you reserve, suggest confirming your arrival by calling them, or whatever company you choose, when you step off the plane.

We used Bee Shuttle last year and they were quick and efficient. www.bee-shuttle.com

You could also try Paris Shuttle. http://www.parishuttle.com/

Or take a taxi (Taxi Parisien) like suggested.

I take Paris Shuttle when I arrive and a
taxi going back to the airport. I've done
that many times-and it's easy! The shuttle is $25
and gets me to my hotel safely.
I take the taxi back because you
never know how many stops it will make.
http://www.parishuttle.com/reservation.html

We used the Air France Bus from the airport to "L'Etoile" the area near L'Arc de Triomphe. Not too expensive and plenty of taxis waiting there to get you closer to your destination.
They picked us up at Terminal 1, near the information desk. I think it was 20 euros.
Just 2 weeks ago.