To lift young children from the floor, put a modified baby harness on the child. The straps that are intended to be attached to the pram/carriage are attached on the back of the harness, crossed under the child’s legs, and attached in front to the harness with a plastic snap-hook. Grab the harness to lift the child up from the floor.
You don’t need a harness if the child wears overalls.
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See also www.youtube.com/watch?v=dWZI_wFwZnE#t=101
This tip is from 2005