A method for milking is provided in a milking system which includes a milking machine having a plurality of teat cups, which teat cups are attached to, and detached from, teats of animals as part of the milkings of the animals. The method determines whether an animal, which presents itself at the milking system, has a regular milking permission and when the animal has a regular milking permission the animal is milked in a regular milking procedure. When the animal does not have a regular milking permission, the method determine whether the animal has at least one udder compartment that was incompletely milked last time the animal was milked, and provided that the animal has at least one udder compartment that was incompletely milked last time the animal was milked, the animal is given a partial milking permission and the animal is milked in a partial milking procedure, wherein the regular and partial milking procedures differ from one another with respect to the procedure for the attachment of the teat cups to, and/or detachment of the teat cups from, the teats of the animal.
