A method for milking in a milking system comprising a milking machine with a plurality of teat cups, which are attached to, and detached from, teats of animals as part of the milkings of the animals, characterized by the steps of: - determining whether an animal, which presents itself at the milking system has a regular milking permission; - milking the animal in a regular milking procedure if the animal has a regular milking permission; and - if the animal does not have a regular milking permission, determining whether the animal has at least one udder compartment that was incompletely milked last time the animal was milked, and provided that the animal has at least one udder compartment that was incompletely milked last time the animal was milked, giving the animal a partial milking permission and milking the animal in a partial milking procedure, wherein - said regular and partial milking procedures differ from one another with respect to the procedure for the attachment of the teat cups to, and/or detachment of the teat cups from, the teats of the animal; wherein - if the animal is given said partial milking permission, attaching teat cups to, and starting milking of, the teats of all the udder compartments of the animal; establishing during a short period of time in which of the teat cups a milk flow above a selected threshold is obtained; immediately after the expiry of the short period of time detaching the teat cups, in which a milk flow above the selected threshold is not obtained, from the teats, while keeping the other teat cups attached during the following milking; or if the animal is given said partial milking permission, a teat cup is attached to, and milking is started of, only the teat of the at least one udder compartment that was determined to be incompletely milked last time the animal was milked; and - said animal is allowed to leave said milking system when the milking of the at least one udder compartment that was/were determined to be incompletely milked last time the animal was milked is completed without teat cups being attached to the other teats of the animal. - determining whether an animal, which presents itself at the milking system has a regular milking permission; - milking the animal in a regular milking procedure if the animal has a regular milking permission; and - if the animal does not have a regular milking permission, determining whether the animal has at least one udder compartment that was incompletely milked last time the animal was milked, and provided that the animal has at least one udder compartment that was incompletely milked last time the animal was milked, giving the animal a partial milking permission and milking the animal in a partial milking procedure, wherein - said regular and partial milking procedures differ from one another with respect to the procedure for the attachment of the teat cups to, and/or detachment of the teat cups from, the teats of the animal; wherein - if the animal is given said partial milking permission, attaching teat cups to, and starting milking of, the teats of all the udder compartments of the animal; establishing during a short period of time in which of the teat cups a milk flow above a selected threshold is obtained; immediately after the expiry of the short period of time detaching the teat cups, in which a milk flow above the selected threshold is not obtained, from the teats, while keeping the other teat cups attached during the following milking; or if the animal is given said partial milking permission, a teat cup is attached to, and milking is started of, only the teat of the at least one udder compartment that was determined to be incompletely milked last time the animal was milked; and - said animal is allowed to leave said milking system when the milking of the at least one udder compartment that was/were determined to be incompletely milked last time the animal was milked is completed without teat cups being attached to the other teats of the animal. - if the animal is given said partial milking permission, attaching teat cups to, and starting milking of, the teats of all the udder compartments of the animal; establishing during a short period of time in which of the teat cups a milk flow above a selected threshold is obtained; immediately after the expiry of the short period of time detaching the teat cups, in which a milk flow above the selected threshold is not obtained, from the teats, while keeping the other teat cups attached during the following milking; or if the animal is given said partial milking permission, a teat cup is attached to, and milking is started of, only the teat of the at least one udder compartment that was determined to be incompletely milked last time the animal was milked; and - said animal is allowed to leave said milking system when the milking of the at least one udder compartment that was/were determined to be incompletely milked last time the animal was milked is completed without teat cups being attached to the other teats of the animal.