It's a little bit expensive, but we bought a little security camera that runs off the internet and streams to my iPhone. We have it trained on Gracie's playpen when we're gone. What we found out is that, just like a skin baby being left at daycare, she put up a huge fuss when we left and for about 2 minutes longer, after which time she settled down and snoozed until we got home! They've just got our number, that's all
