Thank GOODNESS your baby is OK! How scary that must have been.
My friend "dropped" Hope once, she was SITTING thankfully.
This is my solution - anytime I take her in public or even to a friends home, I keep her harness and leash on and make sure whoever is holding her is HOLDING the leash just in case... Hope is bad about jumping towards me if someone else has her so this way I know she wont actually hit the ground!
this seems to work for me, AND never letting the kids hold her unless sitting ON THE GROUND.
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