We rarely nurse in public now because 2 year old DD is usually so busy doing other things that she just isn't interested, but sometimes if she is due for a nap and starts to get fussy I can head her off by nursing, and I do it in public if that's where we happen to be. If I miss that early window of opportunity she could devolve into a stubborn, screaming tantrum so the way I see it, I'm doing everyone a favor by nursing and not subjecting them to her meltdowns!
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I used to be really concerned with covering up, but dd most of the time doesn't like anything covering her head. I also tried those glamor mom nursing tanks that clip on to your nursing bra and go under any regular T-shirt, and they're great for discrete nursing on the go, but their smallest size is a little too big for me now so I've stopped using that too.