I'd suggest lots of diapers, two changes of clothes, a set of pyjamas, a changing blanket (or pad), necessary creams and medication and baby's favourite toys. Besides baby's usual foods and milk, his favourite snacks will come in useful too. A friend of mine also packs along a foldable crib for overnight trips but this is purely optional.
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Our overnight bag consists of 6-10 diapers, two sets of preskong pambahay clothes and one set of sleeping clothe, 3 lampin, 2 face towels and his toiletries/medications/toys.