I am a mom. I never questioned having kids - I knew I would have them. You mention 20 years from now. I can see you regretting not having a child 20 years from now, but if you have a child, 20 years from now he/she will still be your child, but not a baby. As MomsPaula mentions, once your kids are in their teens, you gain quite a bit of freedom. My kids are 17, 15, and 14, a lot of weekends they are not home at all between sports and sleepovers. Good luck what ever you decide.
