Many parents are terrified of dining out with small children. I was certainly scared when we brought our newborn son out to lunch with us for the first time. But I am here to tell you that eating out with children in tow can be enjoyable! It just takes a bit of preparedness to do so. Here are some tips — “the 5 Ps” — that have worked for our family.

1. Pick the right time

We find that going out to dinner, as opposed to lunch, is the best time to dine at a restaurant with our children. Since lunch is right before naps, that hour can get a bit hairy. Make sure your child is well rested, and be sure the meal time fits in with the child’s normal routine. It may feel early for some, but a 5:30 p.m. reservation works well for most children — and those times tend to suit restaurants, too. An early dinner means the staff can be more attentive to your needs, the kitchen isn’t yet overworked, and there are fewer patrons to bother as well.

2. Pack well

We pack and bring a small backpack whenever we eat out with our kids. We fill it with our kids’ go-to snacks, like veggie puffs, grapes, pretzels, and yogurt pouches. We also pack silicone bibs that have a pocket in the front for catching errant food and liquids — nothing is worse than going out to eat and having your 2-year-old douse himself in chocolate milk. In the bag we also carry two sets of utensils for our kids, since restaurant silverware is often too large for small mouths. And we always bring our own water bottles. We like the CamelBak bottles since they don’t leak, and I don’t have to worry about the server making accommodations for kids’ beverages.

Bringing crayons along is always a safe bet, too. Many restaurants will provide them, but it is good to have them with you in a pinch. We also throw in a few quiet toys our children are into at the moment. Last but not least, we pack an iPhone, which we bring out as our last resort. Some people may not agree with screen time, but we have an old iPhone that is loaded with Sesame Street episodes, a few toddler-friendly apps, and electronic books. It is all downloaded to the phone, so no need to worry about connecting to wifi in the restaurant or having YouTube freeze, leading to a toddler meltdown.

3. Prepare the restaurant

Though it’s not possible at all restaurants, I prefer to make reservations — especially when dining out with kids. When we let them know we’re coming with children, they’ll often have the high chair ready for our arrival and/or they’ll seat us in an area that is secluded from other patrons. I often request a window seat if we are eating in the city, as the kids are usually well entertained looking out the window — which means less work for us.

4. Plan for a quick exit

If it is the first time we’ll be visiting a restaurant, I’ll often look at the menu online before we arrive — this cuts down on the time I’ll spend looking at the menu and allows me to focus on the kids. I also check ahead of time to see if they have a children’s menu. Most restaurants are willing to work with you, even if they do not have a children’s menu. They can change up the flatbread to be “kid friendly” or adjust the vegetables that come in a pasta dish. You’d be surprised how many Boston restaurants will go above and beyond for their littlest foodies.

5. Practice

The first time dining out with a toddler is not going to go perfectly. There will be bumps in the road, for sure. We have had our share of meals during which I’m sweating at the table about my kids’ behavior and worrying about how we’re impacting someone else’s night out. Invariably, an older couple will come over and say how nice it is to see a family dining together, or they will remind us to “enjoy it,” as this period in our lives passes by so quickly. Be patient — with both yourself and your children. Imagine sitting in that wooden high chair for over an hour… I’d throw a spoon on the floor, too! Keep the kids entertained and keep the meal on the shorter side. No need for lengthy drinks and desserts. And if all else fails, pack that food up to go!