I'm a preacher's kid and my mom used to have us sit way up front. It helped reduce distractions between us and our dad. And we had lots of paper to draw. That was back in the 60s.
When our son was a baby in 1996, it was very easy to have him at church. He was mesmerized by the ceiling fans, our faces, or whatever was before him. He often slept. If he needed to be nursed, I could find privacy by sitting in the balcony, where no one usually goes, or in the sacristy (a little room right before you get to the sanctuary).
When our son was a toddler, we sat closer to the back (2/3 of the way back) for a quick getaway if necessary. Generally, we brought books, a favorite teddy bear, a little car, and/or some snacks (cheerios, goldfish, or raisins--easy to handle and easy to clean up). Sometimes we chose to exit the sanctuary if he was disruptive. The sacristy and the preschool downstairs both had the service piped in there so I could still hear everything. There was also the option of taking him to the nursery so I could return to the service.
It really depends on your comfort level. Many parents are so worried about the noises their children make. My philosophy is a little coo or temporary outburst is tolerable and the more kids go to church, the more comfortable they are with sitting for that period. It never hurt a kid to learn when it was important to be quiet and when was okay to be noisy. It's a good skill to learn!
Many parishioners love hearing the sounds of kids being present anyway. It gets to be too much, though, if there is constant whispering or outright talking, crying that doesn't stop, a tussle between siblings, or something like that.
In our church, there was one old man who always mentioned ANY noise. But other than that, most people accepted noise in little doses. As long as you are respectful of those around you, keeping the noise to a minimum, a little embarrassment can sometimes be swallowed.
Go for it!