We have had really good experiences (for the most part). Sometimes the church has needed reminding... (for example one service the pastor was using an illustration about stepping out of the comfort zones of our faith by moving the church around, so the environment was different, so ds went out to kids church with it one way and came back and room looked totally different...
) but when I pointed out that letting me know that was going to happen would have been useful I got a good response.
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As far as being welcome, I remember ds wearing his favourite hi vi waistcoat and luminout headphones dancing to his shadow to the Christmas carols at the front of the church and no one batting an eyelid
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Also kids church have (over time) become increasingly fab. ds gets to do the creche age story and activities, (they make a book specially for him, tailored to his way of working) while being in with the older ones (for as long as he can manage) he then has free time play before coming back in to the adutls with the others.. (we have accessed Aiming High funding for a one to one worker to support him, as the kids church staff are all parent volunteers, and we are struggling to have enough... we have lots of kids
... 60 plus some weeks)
I think I would second the comments that if you find a church that doesn't make you and your kids welcome look for another!
I think for us it has been a bit different cos we were settled in the church before ds arrived, (dh is physically disabled and church has been really fab with support there.) So we felt we would stay and 'educate where needed', and this is working really well....