Spanish translation: arrullar y procurar el arropar
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Explanation: Rock is mecer. I had never heard of facilited tucking, but narrowing down Google search gave me this definition: " facilitated tucking (when the nurse or the parent use their hands
to provide containment for the infant) for heelsticks in preterm infants ..."
A more specific definition from the URL below: "Kangarooing on its own can sometimes help as can what I've heard discribed as "facilitated tucking" ie Supporting babies in in-utero position with hands on head and bottem and legs. "