"One of the most important things to remember is that it is going to take you much longer to get ready than you can possibly imagine," says Brette Sember, author of Your Practical Pregnancy Planner. "Not only do you need to get dressed and packed, but you have to get the baby fed, changed, and dressed."

How Long to Wait?

Dr. Carol Steltenkamp, a pediatrician at Kentucky Children's Hospital, suggests waiting at least seven to 10 days before embarking on any outing other than to the pediatrician's office for a well-baby checkup. "There is no great science involved with that recommendation, rather some common sense allowing all parties—parents and baby—to get accustomed to each other and establish a bit of routine," she says. "Just getting the little one buckled in the car seat correctly can be a challenge."

Try to feed and change your baby prior to leaving the house, and if you plan to be gone for more than a few hours, pack an extra bottle of formula or plan on finding a quiet spot to breastfeed.

Take Someone

Maneuvering baby gear the first few times, whether it is an infant car seat and stroller, sling or carrier and diaper bag, can take some getting used to. Therefore, wherever you choose to go on your first outing with Baby, try not to do it alone. Ask your husband, a friend, babysitter, or grandma to accompany you to make the experience a little less stressful.

Dressing Baby

Be mindful of the season when deciding how to dress your baby for the occasion. "When going out of the house, dress a full-term infant as you are dressing for the season," Dr. Steltenkamp says. "Your little one can maintain their body temperature, but I would avoid spending long periods of time in extreme temperatures."

Diaper Bag Essentials

Packing the diaper bag may seem like more trouble than it's worth to a new mom, but with a baby even a quick trip down the street can require more items than one could possibly imagine.

"Always pack at least one extra outfit and bring more diapers than you could need," Sember says. "You will want to have wipes with you as well as a Ziploc bag for disposal," she adds, while also reminding mothers not to forget their own essential items like a charged cell phone, purse, and wallet. Dr. Steltenkamp also suggests that parents stash a spare shirt for themselves in their bag or car in the event of spit-up accidents.

The Bottomless Diaper Bag

Some items to have on hand in your diaper bag include:

• Several diapers
• Diaper ointment
• Burp cloths
• Diaper wipes
• Hand sanitizer or antibacterial wet wipes
• Snacks and bottled water for Mom
• Charged cell phone
• Mom's wallet and identification
• A change of clothes for Baby
• Portable changing pad
• Plastic bag for trash or soiled diapers
• Bottle of formula or expressed breast milk
• Pacifiers for babies who use them
• Extra blanket

Places to Avoid

"My advice to parents is to take a baby someplace they love and feel good about," says Julianna Caplan, a mom of twins from Washington, D.C., who also suggests that new parents steer clear of locations such as shopping malls and grocery stores, which will be sure to be overrun with people who want to touch your baby and other small, mobile children who could pass on airborne illnesses.

Fine dining restaurants should also be reserved for date nights without Baby. There is no guarantee your baby will sleep peacefully throughout the meal, and other diners won't appreciate having their meal interrupted by a wailing infant.

The first few outings with your new baby may require a little extra planning and coordination on your part, but with the help and support of loved ones and a well-stocked diaper bag, soon you'll be pushing your new pride and joy around the park or shopping center like an old pro.