I have a 3 year old and a 7 year old and a 4 month old---I just want to say I'm right there with you. My dd (the baby) likes to sleep in my arms or when I am right there with her. I worry about my sons getting attention---especially since we homeschool etc.
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What has helped me is to sit and do some work with my older son when baby is nursing and sleeping on me or to sit and read to my 3 yo when she's nursing/sleeping. Sometimes I can persuade my boys to lay down with me and the baby in my bed. She'll nurse and sleep and I will read some chapters of a book to them. Sometimes my 3 yo does not go for this because I can't persuade him that he doesn't have to nap if he doesn't want to (of course he nearly always falls asleep and so he trys his hardest to avoid it--silly boy)
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We all just hang out on the front room rug when dd is awake. She has tummy time and the boys do what they do and I just sort of talk to all three at the same time. And then there are the times the boys play together and the baby is content to hang out in a bouncy seat for a minute and drool while i clean something real fast. Oh about housework---let it go momma! I make sure the kitchen area is clean and the front room is swept and reasonably clutter free--I wipe down a bathroom sink when i go in there and do a weekly speed cleaning when husband is home. The laundry is always going and everyone helps with that. But with a baby in the house you have to really lower expectations about a lot of housework. Focus on the truly necessary-clean kitchen/bathroom/swept floors and focus on that area that keeps you sane. I don't really care too much what my bedrooms look like---but the front room absolutely has to be clutter free and dust free for my sanity.
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I hardly babywear in the house past the newborn stage--I like them to learn to get along with some toys on a safe playspot on the rug for a few minutes while I speed load a dishwasher for example. Or sit beside them while playing with the boys.