You’ll be fine! I only held a baby for the first time 2 weeks before my DD was born and I had to ask a Midwife how to change a nappy. Don’t stress, it’s a steep learning curve but it’s soon second nature!
Nobody knows what they're doing and there's really no way to prepare you for it, you will learn on the job. I had several moments thinking 'somebody tell me what to do I have no fucking clue what I'm doing!' when dd was tiny. There is so much conflicting information and advice, there is no 'right' way to do most things anyway.