That can happen between the ages of 6-9 months. Young babies usually rely on a consistent partnership with an adult, and in its absence they usually react with either anger or sadness. Often when that person returns to them, they will stop their tantrum and calm down. It is often when this process does not occur that many young children may start crying from being overwhelmed by emotions when there's no one to help them self-soothing.
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Whether a child "self-soothes" or not depends primarily on the quality of his relationship with himself and others. Regardless, it's important for parents to have a routine for sleep so their baby learns these steps subconsciously. The combination of an individual's temperament, the quality of parenting they have experienced, and genetics all have a strong influence on when a child might start to self-soothe. For some babies, this milestone typically occurs around six months to one year. For others it can happen sooner or be delayed until much later.