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I used to take my kids, on my XTZ660 Tenere, to their primary schools. They loved it and wore as appropriate clothing as was possible. As long as their feet could touch the foot rests they can ride. I fitted DIY brackets to raise the foot pegs for my daughter when she was ready, aged 6, as she was a bit shorter than my son had been when he started.
NB. The legislation, as I remember it, re pillion passengers does not specify whether the passenger has to face forward!
Anyone taken their kid for a pillion ride? How old were they?