DH and I were talking about this. We're very lucky that both sets of parents live within 10-15 minutes of our house. Once I'm cleared for exercise we plan to drop LO off at one of our parents' houses 2 or 3 times a week for an hour and go work out together. We like working out together. Both sets of parents are super excited to get guaranteed time with the baby each week.
What do you have planned, if anything?
Re: How are you and DH planning to "stay connected" once LO arrives?
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That's great! That's how my parents have been, so when my sister and I were born it wasn't really as big of an adjustment. (other than the fact that they had twins!)
I have the same situation and this will be my mom's first grandchild, she's already offered to babysit as often as I want!
My parents take DS overnight every other week or so, and we make an effort to turn those nights into date nights.
DS also still goes to bed around 8pm, which gives us a couple hours together every night.
The first month or two after a baby is really consumed by newborn care, establishing a routine, healing, etc. But after that, you start to feel more human and it's easier to find a couple hours and make the most of them!