@SciFiScream
You and DH are both on amazing salaries! You must have been having lots of fun up till now? The fun had lead to debt etc?
My DH and I have never had any financial help...in fact at times we've both had to support other family members (parents and siblings)
How did we do it? Luck, timing, luck, sheer hard work, debt, hard work, sacrifice, penny pinching, penny pinching, make do and mend, buying second hand, frugal living, luck, interest only mortgage until 5 years ago (DD started school in 2015).
We live in an expensive are in Scotland. I earn far less than you, my DH on a par.
We're on the other side of childcare costs now but once upon a time our childcare costs were more than our mortgage.
You need to look at short term pain for long term gain now.
I wasted SO MUCH money before I had children. Also if I didn't have children we'd be so well off! 

How embarrassing is it to quote your own post? Let's see!
I forgot 2 things we did that helped. First is we bought small as soon as we could - getting on the ladder, even with something that wasn't ideal, was the best thing we ever did. We made a tiny bit of profit on that which allowed us to buy something else (again less than ideal), sold that made a tiny bit of profit then bought again.
Third home is where we are now. Again it's really less than ideal but it will be our forever home. It's small and we're a little bit too "big" for it but we've decided to stick it out and pay off the mortgage.
So my other 2 things that helped were buy as soon as you can and lower your standards. We'll be in a less than ideal house forever but it's ours (or will be once we've finished renting from the bank! I always imagine a mortgage = renting from the bank. It's silly!)
The third home we bought at the peak of the market. Which crashed due to the banking crisis about 3 weeks after we moved in. We're out of negative equity now, but it was a long slog.
A bonus piece of advice - when you do get your mortgage OVERPAY! Even £20 per month helps. Overpaying has been the single best thing we have ever done. We're supposed to be mortgaged right up to age 68 but if we overpay I hope to get out before we turn 60. My DH and I are both in our 40s. We've only been on a repayment mortgage for 5 almost 6 years.
I only got statutory maternity pay and for the first mat leave our family income was such that we qualified for tax credits!
We always had debt too because we had no other way of doing it. We've aggressively worked on that and now have (mortgage aside) about £2k in debt (all interest free) with enough savings to pay that off should we have to.
So if we can do it. You and your DH definitely can. We lived in a 1 bedroom flat until DS was 7 months old. We only moved because I had SPD during and after pregnancy and I got fed up crawling up the communal stairs.
I was worried during mat leave on stat mat pay only that I wouldn't have any money to spend. However I always had money left at the end of the month!