Yes. This restriction applies only during Shiva.
See here: https://shulchanaruchharav.com/halacha/holding-a-baby-during-shiva/
May an Avel during Shloshim or the year hold a baby?
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Gut Yom Tov!
Leshana Tova Belimud Hachassidus Uvedarkei Hachassidus Tikoseivu Veseichaseimu!
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