Depends on the age of the baby as well as their temperament.
My oldest didn't particularly like to be held, so even while I was breastfeeding, I had to lie her down next to me and not really be hanging on to her too much.
My other children liked being held. Each is different.
Once a baby is 5 or 6 months old, however, there's nothing wrong with giving them a bottle to hold themselves when they're in one of their infant seat type thingees or whatever.
Oh, and for the record, my oldest just turned 20 and we have a great relationship!
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