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Whether or not grass will fill in bare spots itself depends on the type of grass you have. For example, grass with rhizomes (e.g., Bermuda grass) and stolons (e.g., Saint Augustine grass) will naturally fill in bald spots as it spreads laterally. However, clump-forming grasses will not spread. 

The best way to aerate your lawn depends on what kind of grass and soil you have and your budget and patience level. There are many options to choose from, including spike aerators, core aerators, aerator shoes, and more, and many types can be found in either manual or motorized versions.

Carpetgrass is a low-maintenance grass requiring little fertilization that thrives in subprime growing conditions. However, regular mowing is necessary to avoid the growth of unsightly seed stalks, and you may have to water it frequently to prevent drying out the soil. That includes watering the grass over dry winters to help keep it healthy, and it may start dying out in particularly cold climates where it grows poorly. Carpetgrass can also be vulnerable to some types of turf fungus, so it’s important not to overthatch. 

St. Augustine is a hardy grass that’s relatively easy to grow, but it requires regular lawn maintenance to stay healthy. It’s best to keep up with a regular fertilization schedule during the growing season, plus a yearly dethatching to help it properly absorb air and moisture. Watering is also important, so be sure to water it enough to keep the soil moist.