One thing I find helps my anxiety is to break my day into chunks and then it never seems as bad. My go to routine is usually:
6am to 8am - Wakeup, milk for baby, breakfast for toddler and me, chill out with TV, books, toys etc, chores that can be done quickly.
8am to 9am - Get ready to go out
9am to 12pm - Activities e.g. library, park, shopping, feed fish at the aquarium (£1! Amazing!)
12pm to 1pm - Lunch
1pm till 3pm - usually me cooking, toddler doing water play, or other chores whilst she jumps on the bed, independent play.
3pm to 5pm - As much 121 time with the kids at home I can give with maybe a half hour break for TV.
5pm to 7pm - Dinner, daddy comes home, wind down time, stories, bed.
So its really the 9am to 12pm slot which I have to plan something for, and kids are very easily pleased, so it's never anything big. I find it great if you can find a busy park, as the chances of your little ones finding a friend to play with are greater, so an even better day out in the end :)