Actually it is possible. I have become quite practiced at feigning ineptitude when presented with someone else's offspring.
"No, I'm not allowed to hold one of those."
"I have been exposed to several very frightening infectious diseases this week at work, and my test results aren't back yet."
Holding the wriggly creature at arm's length, under the armpits, making sure that it's arms are pointing roughly upward, but a different angles, also guarantees parental rescuing.
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