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RE: Happy parents are those who have good grandparents. (How to be a super-dad #7)
I feel the same way you do about your parents watching your kids so you can get some down time. I love when I pick my son up from having a night at his grandparents house, because my son and I both have been able to actually "miss" each other and it makes our reunite wonderful. :)
Yeah, every parent needs that "miss" feeling. So it is nothing bad to ask for help.