Glad is signed exactly like happy: take one hand or both open hands and brush them up your chest a couple of times. If you are using both hands, you brush them up simultaneously a few times.
Teach your baby the sign for glad whenever your baby is visibly happy or excited. Remember, when making the sign for glad, it is important to emote gladness.
Remember, emotional signs like glad have to be presented with the corresponding emotion, in both facial expression and tone of voice. The hand signs alone are not enough.
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