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I think staying for a little while is a good idea.

It's interesting, where I live, daycares encourage a transition period where the parent stays several hours with the child over the course of a week or two so that they slowly get used to the daycare. I'm actually going to be doing this in January when my youngest starts (she will be 14 months).

We have just started the daycare thing as well. At first we dropped our girls off and went inside until she was feeling comfortable. As soon as we tried to leave, it was a complete screamfest for our oldest. Now we just open the door, push them in and leave (it's for the best!). The longer we stayed, the more crying happened. However, for your 6 month old, he should be able to quickly be distracted while you sneak out. It's hard at first, but it does get a lot easier!