We have been rocking or feeding to sleep for 7.5 months now. “Drowsy but awake” seems completely unachievable for us. I am genuinely curious about how other babies fall asleep.
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We have not had success with drowsy but awake since the days of newborn swaddling. The technique for the transfer is to place the baby’s head on your shoulder, one hand behind the head and the other behind the buttocks.
Slowly lower the baby onto the mattress, first with the feet, then the buttocks, shoulders, and finally your hand under the baby’s head. Place one hand lightly on their belly and slowly slide the other hand out from behind their head. Sometimes I do a whole minute of hand on the belly.
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“Panic a little bit” finished me off, The stress is genuine.
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"I panicked a little. “Then sneak out of the room” I believe this applies to all techniques 
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I wish this worked. My 6-month-old son’s eyes just open and he starts crying uncontrollably until he is held again.
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My kid is 14 months old, and I still hold her until she is entirely asleep. She drinks some milk, and we wash her teeth and change her diaper downstairs before heading to her room. In her room, we read a few books, listen to soft music, and she falls asleep in my arms before I transfer her to her crib.