My kids (3y & 13m) start their bedtime routine 4 hours after they wake up from their afternoon nap OR (since the 3y doesn't always nap) the 3yo is in his room by 8pm
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Dinner (between 5-6pm)
They go with my husband and I take this time to pull it together
Free play (not always "free" sometimes structured) If someone is REALLY excited or teething or something we make them run and run and run...but for the most part it is music.
OR
Bath (not always every night) They take a bath together. & Brush teeth
Then some time all together winding down but still playing (not always as soothing as one would hope...these days almost always ends in tears)
Usually take turns having one on one time while my husband and I pretend to talk. Read books, play candy land, snuggle,
Then good night kisses in the form of a rocket ship that blasts my son into outer space and he docks at "besito (kiss) station" (me) & docking with "satellite besito" (13m)...very cute...then he goes warp 9 to bed.
Dad & 3yo read 1 book and he gets one to book for quiet time & sleeping with (cat in the hat is really pointy...grrr)
meanwhile 13m old & I nurse and say goodnight...the alternative is I settle her down and rock her until she is very very calm or asleep. However, on nights when she is teething or I am inferior to the great almighty daddy...he comes rescues her from my clutches, gives her some chamomile and either rocks her to sleep or puts her in the swing.
I put 13m with 3y about 30-45m after 3y goes to bed. (I really like the sibling bed)
My husband walks the dog while I set up the next day
Then we spend sometime together
THEN one of use clears the bed of books and toys and rearranges the 3y while the other changes the 13m diaper. Then it's all into bed...kid mom kid dad and dog at my feet.
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You're right...this is tough. I have a much looser routine with my daughter. But with my son I do remember what we called hell week...and yes, it was my husband in bed with him while he screamed for me. It got a little better each night. but changing the routine and not going back to what we did before really made the difference. Over the years we have changed who is reading the bedtime stories as a way to signal the reset button and show a new routine.