One additional tip: if you hold your baby by the thighs and let them learn to balance their torso upright for a few minutes a day starting at about 5 months, wi

One additional tip: if you hold your baby by the thighs and let them learn to balance their torso upright for a few minutes a day starting at about 5 months, within a month or two they should have enough strength/balance to sit up on your shoulders. Personally I found carrying a baby on shoulders a heck of a lot more convenient and comfortable than carrying them on my chest. Also then the whole time you are walking around the baby is further strengthening their muscles and improving their balance.