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I would say it's whenever the baby can sit in the seat with the straps at or below the shoulders. For jogging I was more comfortable letting her stay in the infant seat even past when she could use it in the car. We let her sit in the infant seat until she didn't fit anymore! :-) Also the waist strap should be snug enough that she can't slip through the leg holes.
Thanks. I always get nervous when I see mothers with newborns in a stroller without the infant seat. Half the time it looks like the baby is going to slide right out!
DS has almost completely outgrown his infant seat in terms of weight and although I'm not comfortable moving on to a comvertible already, I am not sure it is practicle to purchase another infant seat. Knowing if and when it was safe to use the stroller without one may help determine if getting another is necessary.
I think it was around 8 months that we stopped using the infant seat, by the time he was 9 months - he looked to large to be carried in that thing. He started sitting up by himself around 5 months but I wanted him to be a little more stable.
But...for the jogging stroller I was told 12 weeks without the infant seat. And he did fine. I didn't go off roading or anything. Just smooth, paved trails. But now I feel like I should have waited longer :-/
We started using the stroller by itself at around 11 months and 21 pounds. But DD was too long for the car seat at about 8 months. We had to move her into a convertible seat early. It kind of worked out because we used the infant seat for the stroller and the convertible for the car, so I didn't feel like it was "wasting" money if that makes sense.
We have a chicco liteway and the back almost lays flat. We started using it with our son when we switched him to the convertible carseat at 2 months. He is a bigger baby and we would lay it almost flat and buckle him in (it has the 3 way straps that create a harness) and pull the foot bed up. We've had no problems and he was never at risk for slipping out. When he didn't have good head control we used an infant insert with the head support in the stroller. Now he is 5 months and can sit up fine and we don't really lay it down flat anymore and just buckle him in. He loves being able to look around and hold his toys while we stroll.
Here is a picture of him in his stroller. He's not buckled in because he is on my inlaws back patio and my MIL is kneeling in front of him playing with him!

I know its a little different but we use an umbrella stroller for shopping trips etc with our daughter. She does fine with the infant seat in the car but has never been a fan of being in it in her stroller and since we switched to an umbrella stroller she has not been fussy during any shopping trip. She loves to sit up and see what's going on. She can't sit yet but since its slightly reclined she can chill out pretty good in it without us having to worry.
My comfort level was when he reached the supported sitter stage and the bobblehead was gone. We started with his seat almost completely reclined. Here is another option we added to keep him stable http://www.amazon.com/Kiddopotamus-Snuzzler-Complete-Support-Ivory/dp/B000DZS720/ref=sr_1_1?s=baby-products&ie=UTF8&qid=1315783391&sr=1-1
According to Baby Jogger's website, you can use the City Mini from birth because of the recline angle: http://babyjogger.com/PDFs/Comparison_chart.pdf My LO isn't here yet, so I would maybe feel differently if I had experience, but we almost got a City Mini specifically because of the ability to use it from birth without a car seat.
As long as it reclines flat you can put your baby in the stroller w/out an infant car seat from the day they are born. Not everyone uses travel systems. I have a Bugaboo Cameleon and have never used it with a car seat attached. Anytime we went anywhere I would remove him from the car seat and just put him in the stroller. I used the lay-flat bassinet option for the first few months, and then when he was able to control his neck/head I switched him to the "toddler seat".
@jubyju22: so cute!
@owlbride:@Blondetourage:@ShellyT: I think there is a very slight incline to the seat when "flat". It is not completely flat like Bugaboo with bassinet, but it is much flatter than any other strollers we looked at. DS has excellent head control and is able to sit up by himself for about a minute or so, so he is very strong. I think it is just a matter of my comfort level with not using the infant seat, and that is just something I'll have to get over.
We also have the City Mini and started using it fairly early, maybe when DS was a few weeks old? We reclined it all the way, and it was fine, but I definitely preferred the infant seat + Snap and Go frame for when he was really little- I liked having him face me, and while I didn't think the city mini was unsafe, I thought the infant seat combo was more secure and comfy when he was super little.
Now he's 5 months, and the city mini is great- he likes sitting more upright and getting to see out.
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At what age and/or developmental point can babies be placed in a stroller directly without using an infant seat? We have the Baby Jogger City Mini if that makes a difference...the seat can lay nearly flat.