When I was a teenager, I babysat several times a week. I loved every minute, and if I had written an essay called “How to Be a Parent” at age fifteen, it would have said this:

First, you play princess Barbies with your adorable four-year-old, then put her in her princess jammies to read princess stories before tucking her into her princess blankets for the night. Then you feed the baby his bottle while watching a romantic comedy and eating sugar by the spoonful dinner. Once the baby is asleep, you’re free to spend the next several hours taking sexy bubble baths, or whatever adults do with their copious spare time. The end.

In the 1,141 days that I have actually been a parent, I have taken exactly three bubble baths (none of them particularly sexy) and learned a few things. Like, the moms of the children I babysat were probably cleaning frantically for seven hours before I came over. Also, the parents had probably lost a cumulative year of sleep training that adorable four-year-old to stay in her princess bed all night. And normal adults, those with actual responsibilities during the day, don’t stay up until 2 a.m. drinking wine in their lingerie by candlelight. At least not often.

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The relative who came to visit us when we brought Natalie home from the hospital was just trying to help, I know. But everything about her help got under my skin, crawled around, and gnawed at me like a swarm of chiggers. I scratched back pretty hard, I’m afraid.

I felt like all those years of babysitting had earned me a PhD in childcare, but I had no idea what to do with my own daughter. My mind boggled at the fact that this tiny person was completely dependent on me. What if I didn’t dress her warmly enough? How could I know if she was eating well? What was making her so miserable that she had to cry? I felt like I should be confident and relaxed, but I doubted myself at every turn, and my relative’s comments further prevented me from finding my own way of mothering. They made me feel 200% a failure.

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The “I would nevers” started innocently enough: I would never leave my baby strapped into a swing all day. I would never use the television as a babysitter. I would never ignore my children. I wasn’t trying to be supercilious at all. I just knew I loved my little girl and wanted to learn from all the parenting mistakes I’d seen.

But then, the third trimester of my pregnancy with Sophie lumbered down and squished out my energy overnight. My energetic two-year-old was suddenly a pig-tailed tornado, and I kept falling asleep three words into story time. “Sesame Street” and “The Backyardigans” became very, very important to our survival. I started falling asleep at night under a palpable cloud of mother-guilt.

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Natalie and I went out on a mommy-daughter date this week. We walked through a park, Natalie chatting incessantly about everything she saw (“Look, there’s a flower! And a bird! And another flower! Ooo, look, there’s grass! Did you see the grass, Mommy? The grass, over there? Did you see it?”), and then shared a cup of ice cream. It was perfect. I hadn’t paid attention lately to what an amazing little girl she is, bubbling over with sweetness and enthusiasm, and I was blown away.

I wish so much that I could do more for her. Maybe if Sophie cleaned the house for me, I could give Natalie the one-on-one time she deserves, but you know babies–too busy lying around, being cute. But despite my imperfections as a mother, my daughter has a vast, beautiful heart. She is happy and creative, and she knows I love her with everything I have. She knows, and that is enough for now.

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We’re on the journey back into the sunlight, but this time, I’m not looking at other families for validation (At least our daughter eats her vegetables, yada yada yada). Instead, I’m deeply humbled by the other moms and dads who are struggling to be the right parents for their children. I’m encouraged to see other families who, through their aching, ache for one other. I’m so grateful to know I’m not alone in this shaky business of being human.

Things change. Children learn their way in life as parents temporarily lose theirs. “I would never” becomes “I’ll do my best,” and we fumble our way through apologies. We learn honesty and grace. Our rose-tinted glasses crack; we see our children for who they are. And through each struggle, each fight for the relationships most precious to us, we dive deeper into the mystery of unconditional love.