Breastfeeding while baby is asleep

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How long do you continue to let baby nurse after they fall asleep? Not like 100% asleep but eyes closed, relaxed and still occasionally sucking? I feel bad for taking him off if hes still sucking and swallowing but also dont want to encourage using the breast as a pacifier unless that's what he really needs. He doesnt cry when I take him off so I'm guessing hes okay