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I've read horror stories of children who run amok in restaurants, taking out servers left, right and centre, screaming and pulling food off of other diners' tables. You'd almost start to believe that every child who enters a restaurant is an unholy terror. Personally, the number of times I have witnessed this kind of behaviour could be counted on one hand and still have fingers left over.
Using this approach I have been fortunate to have wonderful experiences in restaurants with my family, even when things took a "turn for the worse" with my kids. Even though it is well rehearsed -- their dining etiquette is still a work in progress.
Kids can be difficult at times and definitely tiring. They can also be loud and unreasonable and in some instances, completely intolerable. Funnily, so can many adults. And yet they're allowed to dine at most establishments with impunity.