How long should you breast feed your baby?

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I only breast fed my kid two months, after that it was just formula. I know the importance of breastfeeding and even the bond between the mother and baby but how long should it be? I now regret doing it such a short time but I also think some mothers really should know when to stop. I´ve seen kids walking right up to their mom and waiting to be fed! Imagine that! A 1 1/2 year old and still being breastfed, i don´t think thats normal. I once heard someone say that when the babies teeth come out is when you should stop, but that varies in every child. Breastfeeding is the best option I know about the nutritional value and everything but there must be some guide as to when its time to stop.