Congratulations!! I live in London and my parents are in Yorkshire. These are things that have worked for us (although they might not for everyone!)
My baby was early and very poorly (born in 2021 so various covid restrictions) so my parents only met her when she was around a month old for the first time, but the first weekend they came, they obviously had lots of baby cuddles but also cleaned my house and cooked lots of food for me. Which was so nice for me to have my mums cooking and gave DH a break from looking after me and DD.
She also has a stash of everything we need at her house. I would make regular trips to see her during my mat leave without DH on the train as i could just take a few clothes for me in the changing bag knowing that there were some of my toiletries, baby clothes, toys, sterilisers for expressing, books, white noise machine, swaddles, sleep sacks etc all at my mum's house. It makes it such a home from home for DD. Now she's bigger, we also have special toys at Grandma's house.
We also bought a thing that attaches to the tv so we can video call through the two tvs and see each other on a big screen. DD (now 2) absolutely LOVES playing hide and seek / peekaboo through the tv with my mum. It's the cutest thing. Now she's a toddler, she asks to speak to Grandma on the phone, blowing her kisses etc. It's so lovely.
But generally be a caring, considerate grandparent and you will forge your own path for a lovely relationship with your grandchild.