Potty Training.....continued

Aiden continues to poop and pee in the potty only after I anticipate when he has to poop and pee. He won't initiate it and tell me when he gets the inkling. Pull Up diapers do not work. I've concluded that he won't stop pooping on himself until he begins to wear underwear. Am I ready for the yucky mess involved? Maybe one day but not today.