We do - we were regular churchgoers before he was born, and now he just comes with us. Probably 3 weeks in 4 - my H is a bellringer, so we're generally there for a long morning!
It's harder now than when he was small - he wants to crawl around the pews / knock over the flowers / grab the communion wine (!) but we've got a lovely children's corner with toys and books, and once he's 3 he'll go to Sunday School. There are always the odd people who tut when he's making himself heard, but on the whole our congregation are really lovely.
Strangely, it's the one place where he's quiet when I ask to be. And he loves the stained glass!