Well, most of our friends had children at around the same time as we did, so they were much of an age. So, we got into the habit of meeting up at someone's house with babies in tow, chuck them in travel cots if they were good sleepers (mine were, thankfully) or, whoever wasn't jiggling a baby on their shoulder, got the spuds out of the oven. Mil lived close by too, and the kids adored her and viewed her house as a second home, so that was useful for times we wanted to go out without kids.
It's not a popular view here on MN, but we didn't fully subscribe to the popular, "our world revolves around our kids" thing. Don't get me wrong, I love them to bits and they've had a pretty good run of things all-told, but at the end of the day, we were the grown ups and it was us in charge, so they had to fit round us too.
But if you over-think it, you'll never do it! And don't forget that people love to scare you with horror stories of how awful kids can be. I was terrified, when pregnant with ds1, that I was never again going to have an evening where one of us wasn't pacing up and down the sitting room with a screaming baby. When he arrived, he slept like a top! Dd was even better.
Good luck.