Ever since we got our first milk cow Camilla we have been using what is commonly called a calf share. Calf sharing simply put means that you share the milk with the calf, allowing the calf to nurse from her dam after you take your share.
We found what worked best for us is to put the calf up in a pen adjacent to the dam overnight and then in the morning milk out the dam and then after you are finished you let the calf out to nurse and be with her dam all day. We only milked once a day.
If I know I won't or can't milk the dam on a particular day I will just leave the calf with the dam overnight and let them both out in the morning.
Doing it this way gives us more than enough milk for our home, however cream can be at a premium. Why? Because most cows will hold up on the cream and save it for her calf. If you cow does this and you really must have all the cream then your best bet is to just pull the calf and bottle feed it. Doing it this way means you will have to milk out the cow twice a day instead of just once.
I really liked this method because I never had to worry about getting the cow completely milked out, which can be an issue that results in mastitis... a nasty thing for your cow to have. The calf does this milk out for you, naturally.
This is also a great way to train your calf to accept a halter and a lead rope. When you are finished milking, simply place the halter on the calf before you let it out to eat and then take the halter off when you put the calf in it's pen overnight. Never let the calf out of the pen without the halter on. This works amazingly well. With the lead rope you can then lead her out, after she is finished nursing, behind her dam into the pasture or another pen. If you are going to put her into a pasture, where you can't keep an eye on her then you should take off the halter when you put her out and then before you bring her back in put it on her and then take it off again when she goes into her pen. You will have to fight her to do this at first but it will not take long before she understands the routine and stands there waiting for you to put that halter on her so she can eat.
Always make sure no matter how old the calf is that you have fresh water and clean food for them to eat while they are separated from their dam.