I used a "baby sling" when my kids were infants. Simply took a piece of fabric long enough to make a big soft knot and to hold the infant, left on the selvages for sturdiness. It left me with free hands and also a modesty covering for nursing.
You could make a pattern by trying it on yourself. It seems like I put a zipper in the last one I used (maybe since I had to chase (watch) the bigger ones I felt I needed it!).
Have you googled "baby slings"?