Is there a prohibition against bringing children to a shiva house? I know that children aren't usually brought and that it's respectful to ask in each case, but does anyone know if there is an actual halachic prohibition against this?
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This may be a bit of a stretch, but consider Shulchan Arukh YD 391:1
This seems like an "actual halacha". The age of the "תנוק baby" is not specified anywhere as far as I can tell, though it seems reasonable based on the reasoning that a toddler that you ordinarily might plop on your lap and play with is included.
This rule is not about entering a Shiva house, but if there is such a custom it likely derives from this rule about holding young children and a general sense of minimizing the happiness which children can create.