For actress, producer and designer Alyssa Milano, being a mom is truly rewarding. But motherhood brings its share of challenges, especially when it comes to breastfeeding.

“I feel strongly that women should be able to feed their babies no matter where they are,” explains the star of “Who's the Boss," “Charmed” and "Mistresses.” “Unfortunately,” she adds, “this isn't the case, due to people's perception of breastfeeding being 'gross,' or something you need to do in private.”

Staying abreast

Milano, 43, also believes breastfeeding should be viewed as beautiful and natural, rather than something women feel they have to hide. Learning the skill was actually difficult, since she hadn't really seen women breastfeed.

She says new mothers have typically stayed home under a blanket, hidden from society: “I feel it's important for young girls to see mamas breastfeeding in public, so they grow up knowing it's normal, and what breasts are actually meant for.”

Finding more time   

As a working mother of two with a busy schedule, Milano admits balancing work and family is a juggling act. “I just do the best I can,” she says. “Some days I'm better at it than others. It's a fluid thing that's always changing.”

Milano adds, the best parenting advice she's received is the reminder that the more you put into it, the more you'll get out of it. She encourages moms with young children to realize some days are going to be better than others.

“The most important thing for me is to remind myself that perfection doesn't really exist. I try to be present and in the moment, and give my best in those moments,” Milano explains. “No matter what I'm doing—I also try to be kind to myself when I feel overwhelmed.”