I am a gifted amateur when it comes to sewing - at least with a blanket stitch. Never touched a sewing machine in my life and do it all by hand. 

My kids are naturally rough with toys and their clothes. Some are better designed than others. I hate throwing things out that I know I can repair and I will sew broken seams frequently just to get a little more time out of everything. 

Problem is that when I am mending something like a toy, when I get to the end I can't work the needle inside anymore, I end up with a stiff line that does not look good. 

What can I do when I am finishing a seam and can't reach the other side? What stitch or stitches should I be using?