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That's exactly how I hold my kid. You do have to look out for headbutting though, they'll try and smack you in the mouth with the back of their head.
In the event that he's too out of control (like really trying to harm me, I will use a hold similar to the police when they arrest someone, but only in an emergency, and I get him out of it and back to the hold you described as quickly as I can
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