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If you ask them to stay put to play in the playroom and they obey, or you tell them they can't go beyond the grass line in the front yard, you have already started introducing the idea of boundaries — both physical and imaginary. If your child is good at understanding and obeying boundaries, they are probably ready to sleep in a big-kid bed without jumping out of it every night (though that's still likely to happen from time to time because kids are kids and they do what they want).