Hi everyone: first visit (though I did order a pint of Caffrey's by mistake on another thread thinking I was in the pub
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I think women need to embrace the concept of good enough mother. Accept that we are never going to be perfect, get it right all the time and there will inevitably be times we beat ourselves up for doing it wrong, down the generations.
Why are we so fucking hard on ourselves? My DCs are middle-aged now and there are still times I think, ooh wish I hadn't done that or wish I had done something differently. Occasionally, if I talk about such things with them I get a puzzled look and they'll say "What? I can't remember or even FFS Mum lighten up".
They seem pretty successful, balanced adults to me and now the tables are turned and they ring me to ask if I'm ok or tell me to text when I've got somewhere safely after a long journey. Not to mention I am always asking their advice.
It's the wheel of life thing isn't it? Guilt and self-recrimination, plus never feeling free from fear again once you become a mother.
So, assuming you are not beating them up, emotionally starving them or being a first-rate prat on a regular basis, you are doing OK. And that's all we can ask of ourselves.
Unfortunately, most of us need time and distance to get a sense of perspective and we can miss out on the joy for concentrating too much on the fear. Just an oldie's take on it. 
Bit early for the Caffrey's so I'll settle for a latte for now 