Others have said some good stuff about snacks/activities and keeping it short enough for their endurance, but I want to address the other side of backpacking: namely, the sleeping. With the nap and sleep needs of young toddlers/infants, that could be a very tricky part of the proposition as well. It depends on the kid, but for ours anyway she could fall asleep in the carrier/car/bike trailer but it was never a long or very good nap. And never according to your usual home schedule, the new environment is such a routine buster for littles. And overnights add the challenge of do you haul a heavy portable crib too, or could the kid handle co-sleeping? That said, it's no reason not to take them out into nature, but you can definitely ease into it with car camping at a state park or forest. I think ours was about 9 months for our first outing, with a spacious REI Base Camp 6 tent to set up the pack n play crib. We draped a sheet over it, hung with a carabiner from the ceiling, as a light-blocking curtain. We used our phones to play white noise as a sound machine, so a battery pack came in handy for recharging. More challenging than any of the camping/hiking was pushing through the 2.5hr drive to get there. Our latest big outing was this summer with a 4 day/3 night adventure on Lake Superior's North Shore, at about 1.5 years old (by chance when that comet came by, such an incredible sight in dark skies!). She did quite well, but as mentioned, we totally blew her naps, none of us got great sleep overnight, and were ready to be done by the end of it even though it was definitely a good trip. It's also shocking just how much additional gear comes along for a toddler, that we're now looking into a roof cargo box because the car was absolutely stuffed for that trip. She's just turned 2 now, and I'd say she's good for ~2-3 miles of hiking/balance biking on her own before she's hit her limit. Could definitely go more in the carrier, but now mommy and daddy hit their limits because 32lb of small, wriggling human is not exactly light... but I think we've managed upwards of 10 miles in a day as the most we've done. One thing she absolutely loves is trekking poles, trying to copy what we're doing. A regular adult pole in its collapsed state is actually a pretty good length for her. A bit double edged though because our pace absolutely plummets as she repeatedly drops it and has to pick it back up. But really it all comes down to patience. Patience with the activity itself, and patience that they'll work their way up to longer adventures as they grow. Keep it enjoyable for them to build a lifelong love for it, rather than pushing them away from pushing them too hard.
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