Good on you both for taking him out. He'll grow up sailing and it will seem/be 'normal' for him. It's actually easier now than when he's a toddler but you have time to think that through.
We had our granddaughter out overnight this past weekend, she's a natural and we had a great time (she's 3 1/2 now, but her parents had her sailing at 1 week old in December!)
1984 Fast/Nicholson 345 "FastForward"
".. there is much you could do at sea with common sense.. and very little you could do without it.."
Capt G E Ericson (from "The Cruel Sea" by Nicholas Monsarrat)