MIL help

How did you and your partner work on determining boundaries for your in-laws and parents when they are on different levels?

My MIL has made it obvious that she wants to help us when our little boy arrives. My husband thinks it’s totally OK that she babysits for us weekly when I go back to work. I have a huge problem with her helping for a few reasons. 1. She physically she limits herself to go up and down our stairs in our home twice within a visit, but our nursery is upstairs and the main part of the house is downstairs. 2. She has never been a help to me. She can’t even help herself to a cup of coffee in my house without me being involved (doing it for her). My husband doesn’t see it though.

Advice would be helpful 🙈