Learning to Enjoy the Moment Without Worry

We have all been there as Parents of children with special needs....We're out, we want to be present, we want to enjoy the moment but it's sooooo hard for many reasons but especially when your fears of what others are thinking about your child start taking over your brain.  It's never easy but especially after a year of quarantine.  I forgot how to do this and need to train myself all over again to get my thought under control and to try to just enjoy the moment.  Let them judge.  Perfect is boring anyway...