After reading "Hold on to your kids" (by Gordon Neufeld) what I have always done from the time my kids started daycare, and still do when my (now) 7 year old starts at a new camp, is introduce them to the teacher or counselor, ideally a specific one who is going to be at the camp every day (or the main teacher if it's a daycare, the one who will likely be there most of the day; if it's split shifts I will sometimes introduce him to both). I ask the counselor their name, introduce my son by name, and say to my son "this is so-and-so, if you need anything, he/she will help you, if you need to go to the bathroom, tell so-and-so, if you are having any trouble or need any help with any thing, you can talk to so-and so". I let the teacher/counselor hear me say this so they will (hopefully) take on that role.
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Then I ask the counselor to keep an eye on my son, and to let me know at the end of the day how his day was, and to call me if he gets really upset about anything or if there are any problems. Sometimes I'll make small talk for a bit if I need to assess if this is the right person to turn my son over to, or if I think DS needs extra time to warm up. I always let DS hear me say these things so he feels like I trust the person too.  I then turn my son over to this person, and say "okay, go with so-and-so, have a great day", give hugs and then leave (but always stay and spy for a little while to make sure he integrates in to the program ok).
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This almost always results in the counselor I have approached in connecting with DS and kind of taking him under their wing, introducing them to the rest of the group, asking if they want to help them do something they need to do at the beginning of the program, etc. I believe it also helps DS feel not so lost and more secure that he has someone to go to if he needs anything when I'm not there.
I do this at our first gymnastics program or soccer practice with the coach, library programs, etc. Any time I'm going to leave either of my kids anywhere with a "stranger" they don't know. It kind of makes them feel like they know someone. Sometimes, DS will stick with the counselor like glue until he makes friends.
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At the end of the first few days (each day) I'll aks DS how it went, if he had any problems, if he told [counselor's name], what the counselor did, etc. There has been only once that he told me the counselor didn't help him and so the next day I introduced him to another counselor - once even to the camp director who was always present during the camp if needed. I feel it's important that DS always feels like there is someone there he can go to if needed.
A few times I've dropped DS off at a new camp and not done this and he cries and doesn't want to go, so I find it makes a HUGE difference. I also feel like I have someone who I can ask about his day and who is looking out for him.
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Hope that helps!
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