I lived in my robe at the hospital, so definitely bring one of those. Also, bring a pair or two of comfy pants, preferably ones you won't mind throwing out if you get stuff on them. Make sure to bring a camera and your cell phone. I brought loose change for vending machines, hard candy, and chapstick but didn't use any of that, mostly because my labor progressed so fast.
Must haves for me were the boppy, hair scrunchies, chapstick, nursing bras, nonskid socks, hygeine stuff (deodorant, face cleansing wipes, soap, etc), our laptop so we weren't bored out of our minds the whole time, snacks, clothes for your SO, phone chargers. Things I brought and didn't need: clothes! I stayed in my hospital gown the whole time because I bled A LOT and even Pajama pants weren't comfortable. Also they check you very often so it was just easier to stay in the gown! Also leave everything for baby at home except the carseat, a blanket to go home in, and an outfit. They give you everything you'll need.
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Re: For Mom's with recent Outside Babies...
DD 1/3/2012
BFP 5/21/2013 MC 5/24/2013
BFP 7/16/2013 EDD 3/27/2014