Babies are brilliant at knowing how to develop... we don't really need to 'teach' them how to sit or crawl or walk. Obviously a stimulating, positive and safe environment helps all areas of development but specific education isn't generally really necessary.
If your child appears healthy and alert and physically okay, then chances are they are. You will usually get a sixth sense if something really isn't right and more intervention is necessary.
I would just do whatever you and your baby enjoy and are comfortable with- so if a few sits on your lap is enough then so be it. So long as she is having time on the floor to develop, then she will.
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