More than four in five Americans say becoming a parent is the most rewarding thing they’ve ever done, according to a new poll.

The survey of 2,000 expectant parents and parents of children ages 0 to 6 also revealed that 86% believe their child’s milestones felt more rewarding than their own.

More than two-thirds of parents (67%) said that learning how to walk is the most rewarding milestone for their child and themselves.

The study, conducted by OnePoll on behalf of Stokke, also showed several ways parents prepared for the arrival of their newest addition.