Hi when I got my pump my youngest was a baby. I use Medtronic silhouettes which insert at an angle and therefore more secure if tugged. I wear mine clipped to my waist and my tubbing tucked down into my trousers. It has survived countless pulls, tubing being caught on door handles etc and only one has ever come out.
If your wee one is likely to try to pull it you could have the set in your leg and then the pump in your pocket, just make a tiny hole in your pocket so you can feed the tubbing through and that way its safe and out of the way. You will find a way that works for you.
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If I'm out and its hooked to my bra I just rummage around to fish it out and to be honest no ones ever commented. I may look a bit odd but I'm careful not to flash anything