Always let your baby feed themselves. You may feel like you should put a 'taste' on their lips or 'help' them actually get the food into their mouths but this is a learning opportunity. Trust that they will use whatever means necessary to get different foods into their mouths.
I tried pears with the skin on to see how the baby would do. Of course, he was closely monitored to make sure that he was handling it ok. He did quite well with some of it, however, I decided to try some pear without the skin too. You know your baby best and you can decide –based on what you see and already know- the best way to provide foods for your baby. Without the skin, he was able to eat it, and enjoy it more. So we did a balance, took some of the skin off and left a bit on to provide a different texture for him to get used to.
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Watch a baby self feeding pear: