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Milking Summer tonight. Here's what I do.
Wipe down udder with chlorhexidine diluted with water.
(I'm supposed to dry the udder)
Empty the end of the teat.
Milk
When the milk flow slows, knock/bump the udder copying goat kids (but not as rough as goat kids, please!)
Massage the udder until smooth and empty. I like massaging better than bumping but some bumping is necessary.
When I can't massage or bump any more milk down to fill the teats spray with a chlorhexidine spray to close and sanitize the orifices.
Let doe finish her ration. It's goat candy.

Summer's soft textured udder is my favorite. If I could change anything I'd give her slightly larger orifices and just slightly better rear attachment, but I still love her and she's plenty sound.

It's not glamorous or a great angle, but that's what I do morning and evening with the does in milk for the most part.