I know that it is hard for some parents to come up with the extra cash on visiting day to tip all the counselors, waiters, Rebbeim, etc. But that is still no excuse not to show hakaros hatov and also not to teach your child to show hakaros hatov. No one needs to know what is in the envelope especially not the child. If you can’t afford a decent tip or no tip at all it does not remove your obligation of hakaros hatov and appreciation. Please write a note explaining your situation but thank the staff person and tell him how much he/she means to your child and how much you appreciate how hard they work and how much they contribute to the overall camp experience.
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