There's no formula for this, you and your DH have to work out what you're both happy with. My DH works normal hours (mon-fri, 8am to 4:30) and we have a 4 yr old and 8 month old and I'm on maternity leave until July.
I do all the cooking (he would, but I think he's too slow at chopping/prepping (we used to share cooking before the kids, but he's really out of practice now) and if I cook, he does dishes. We both do laundry (I do most of it as I'm home most of the time, so easier for me to do it). I bfeed so do all nightfeeds, however, both DS1 and 2 were windy babies (hours walking the floor with him in the first few months) and DH always helped me with this (quick feed and sleeps I do myself).
Housework - to be honest, it's left a lot of the time, the house is just generally messy, the bathroom gets pretty manky and we're lucky if we clean it once a month. We have two cats so need to hoover everyday (but we manage it about once a week).
My priority is keeping my kids happy, so spare time during the day is usually spent playing lego, DH totally agrees with this, so we just accept the house is pretty manky a lot of the time and we're discussed hiring a cleaner when I go back to work (although to be honest, it's a tidier we both need!)
I don't iron anything. DH irons his own workshirts (always has). Emptying bins etc are joint tasks (as are making cups of tea :-)
All families are different as to what each partner contributes, main thing is to keep communication channels open, keep the subject of 'helping' calm and non-controntational, and revisit as and when required (e.g. some days you just really can't be ar**d doing the normal chores (sometimes I can't face cooking) and your DH may need to step up the support for that day/week, etc).
As for being scared of coping - I was terrified when paternity leave was going to end, but you get into a rhythm with your kids quite quickly - honest :-D