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Baby keeps waking up from nap: how to get him to sleep longer?

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I put her to sleep on a somewhat full stomach. We are on a four hour routine. She wakes up has a bottle, plays, eats a bottle, and then takes a nap. She sleeps longer if she's not waking up hungry.

Then, if she wakes up early, I don't rush right in. She normally doesn't cry right away unless she needs something. Most of the time, she doesn't. She will sit up, crawl on the crib, play a little, and then fall back to sleep. At this stage, if she wakes up early, I continue letting her have quiet playtime in her crib.

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Baby keeps waking up from nap: how to get him to sleep longer?
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