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Almost any carrier, including a wrap, will allow you to do this. Have you tried wrapping baby on, or settling her in her pouch, before you sit down to rock her to sleep? Also, you can combine carriers -- some mamas for example find a pouch is great for putting babies to sleep, but not great for long-term wearing during the nap, so they'll wrap a wrap over a pouch. Or whatever combo is suitable. Also, you might try stepping into your pouch rather than pulling it over your head. A stretchy pouch like the slingset would be useful for that, though they wouldn't keep baby up high like you're describing.


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