Respectful parenting says that babies just cry from stress and don’t need to be actively soothed, just comforted. But this does not go in line with medical advice that in the fourth trimester babies need to be held close and soothed and be "Stuck" to parents as much as possible. What gives?

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Will being under constant "supervision" or being in the same room as baby be considered as being stuck to the parents? In that sense, the parent could pay attention to the baby and help calm the baby when required while practicing respectful parenting.