Babies are smart and they remember well. Even Premies in the NICU, if they get kangaroo care (skin to skin) twice a day and one time is missed, they get restless because the routine is changed. When you are home with your new baby/babies, you will have a routine, wether it is rocking them after feeds, patting their little bottoms or rubbing their back. What ever you love to do with your baby, just be prepared to continue it or just don’t start it.
Babies do well with routines and it becomes their schedule, not a strict schedule just a structure that they are used to. This in hand makes for easier parenting and a happier baby.