I have a feeling of solicitude towards my parents.
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You could say: The parents had a solicitude feeling for their
children. They didn't want them getting hurt.
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The root word of "solicitude" is "solicit," which comes from the Latin word "sollicitus," meaning anxious or concerned.
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Solicitude refers to a state of being concerned, attentive, or anxious about someone or something. It implies a caring and protective attitude towards the well-being of others.