Take your babies everywhere. Restaurants, errands. Anywhere. Try not to stress if they cry, laugh loud, or babble. That’s what babies do. My son goes wherever I go. I’m not raising him to be silent in public. If people stare or get annoyed, they better stay in their lane.
Your baby belongs in the world just like anyone else. Normalize babies in public spaces. You're not a bother you’re parenting.