As long as the child is well-behaved, I don't see a problem with it. If you're doing something at the restaurant that you'd rather not have children see, then maybe you shouldn't be doing it in public at all.
My parents took my siblings and I took nice restaurants when we were younger, and they got lots of compliments on how well-behaved we were. If you teach a child how to behave in public, then it shouldn't be a problem.
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