My experience was that when I wasn't home, my kids would accept different kinds of comfort from dad (or a sitter, but that happened rarely). If I was home, they could hear/smell/sense me by ESP and dad was no good. But when I was well and truly out of the house, dad could rock and carry them, or put them down and rub their backs. Yes, they still cried, but it wasn't the hopeless "i've been left to the wolves" cry, it was the "I am really mad that mom isn't here and I guess you're better than nothing" cry. Is it hard to hear that cry? Yep. Will it scar your children for life? No.
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Instead of thinking of it as "my baby is going to be so miserable" think of it as "my child is learning that other people can meet their needs". My children both have a closer relationship with dad because he did a lot of care for them when they were little.
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If your babies are older than a year, I highly recommend Dr. Jay Gordon's nightweaning method. It worked beautifully with ds. I will say that we tried this with dd when she was 18 months and it failed miserably. When we tried 6-10 months later, she was ready. Dd has always had a HIGH need for physical contact. Even today, at age 7, she climbs into bed with me as soon as dad gets up in the morning (he gets up about 45 minutes before she needs to). Last night she wanted to listen to an audiobook instead of having me read to her. So, we snuggled on the bed with my arms around her while we listened. (Ds, by the way, thinks that cuddling is lying on the same bed as me, but preferably not actually touching me
, it's probably why he was so easy to night wean.)