I think that even a Kennedy should be smart enough to know that you don’t just pick a baby up from the hospital bassinet and walk out the door.
Just like the mother didn’t walk in off the street and lay down and have the baby.
The obvious issue is getting a proof of custody. Hospitals take their custodial responsibilities very seriously. They don't let anyone who comes in take a child. Nor do they just take your word for it.
If I'm given $50 to hold for someone, I get proof of ID before I give it to them. One would hope that the same goes for children.
Out of curiosity, what do you think the rules should be at a hospital concerning people who walk in, pick up a baby, claim to be a parent, and head for the door? Further, what do you expect of a hospital, school, etc. when someone claiming to be a parent grabs your child and heads for the door?