You should always ask before you pick up someone's baby.
Cindy saw a cute baby with it's parents in a grocery store.
Cindy wants to pick up the baby.
Cindy walks over to the parents and asks to pick up the baby.
Cindy just walks over to the baby and picks it up.
The parents let her, and she hugs the baby for a minute or so.
Cindy finds herself explaining to annoyed police officers that she wasn't kidnapping the baby.