My DS has taken multiple trips to the fire station and police station with his homeschool group, independent study school, and Cub Scouts, so he's gotten some of that there. I think it's generally pretty easy to arrange fire station visits. Stop, Drop, and Roll came up both there and in one of his videos (Barney, I think).
We read the Berenstain Bears book about strangers, and modified it to our own beliefs (basically, that it's perfectly fine to talk to strangers, but that there are certain things that no one, stranger or otherwise, should be asking of him). (Yet another thing I like about homeschooling - he's not getting "safety" talks that I don't feel are appropriate or helpful!)
We've talked about disaster preparedness and what to do in emergencies.
We need to talk about 911, including the cellphone specific portions of it, as we don't have a landline phone. I'm pretty sure he knows about 911, but not necessarily how to work a cellphone.
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