Senators will now be allowed to care for infants briefly in the chamber.
It's been seven years since Greens senator Sarah Hanson-Young had her young daughter Kora taken from her arms and ejected from the Senate chamber.
She's now pledged to bring her daughter back into federal parliament after the Senate updated its rules to allow new mums and dads to briefly care for their infants in the chamber.
"Now that we've changed these rules I might put her up here in the advisor box next time she's in Canberra and she can see that things do move on," Senator Hanson-Young told parliament.
Greens colleague Larissa Waters, who instigated the move, said it was disappointing there were still conditions on infants being brought into the chamber.
It was important to make parliament more family friendly to encourage young women into politics, she said.
"The 21st century is here and we are slowly getting closer to it in this chamber."
Senators are already allowed to breastfeed in the chamber but the changes adopted on Tuesday allow a senator to briefly care for an infant, at the discretion of the president, provided Senate business isn't disrupted.
The House of Representatives made similar changes earlier this year.