It is neither a disgrace to leave nor rude to return. A child practicing new skills in worship is going to be somewhat busy and noisy. You are training a child in worship and that is very important education and requires some preparation by you. Help them participate in holding the hymnal, finding page numbers, bowing their head in prayer, etc. Save long explanations for a time outside the worship experience.
Children often participate well when they have an idea of what to expect.
For more information or to volunteer to help, contact Andrea Andress or Marti Tobin.