I love these.
Bring your kids out to restaurants - yes! The more regularly they go, the better they are. And let them negotiate the order with the waiter themselves. Don't assume they will be badly behaved.
Bring them to art galleries, concert halls and museums.
Play find the dog/ horse/ pomegranate in the paintings, listen out for the oboe / cello at the concert and spot the mummified cat / flint arrow head in the museum, for eg!
Let children talk to other children, and adults, and respect their time when they are making friends - don't hurry them along, and talk to friends /strangers yourself with them around, they'll learn how to be social if they see you are.
Forget about stranger danger - strangers are the ones who will help when you need information or help. Weirdos are few and far between. Teach your kids to talk with strangers and keep their boundaries.
Always carry a few colouring pens, stickers and paper in your handbag.
When in a queue for anything, get them to look at the other people and play "try to figure them out/ people watching" - quietly of course!
Don't forget to play.
Smile at them!
and, oh yeah, teach them to swim.