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Use a changing table higher than your waist to minimize bending.
Kneel or squat when lifting your baby from a stroller. Buy a stroller with a handle long enough to reach without leaning over.
Lower the crib side; don't bend over it.
Coax your child to come to the side of the playpen. Then bend your knees, keep your back straight and avoid twisting.
Use pillows when breastfeeding to bring the baby up to you and a footstool to support your legs.