I used to stay in bed as late as possible while she slept a bit longer after her first feed of the day (around 5am). So often I would stay in bed till half 7ish when she would wake up properly for the day.
What I should have done (and eventually did once I realised the sense it made) is given up the extra hour or two in bed where I usually didn't even fall back to sleep properly anyway.
I should have laid her back down in the crib to sleep, got straight in the shower, got dressed and ate breakfast in peace with a coffee. DH would still be around during that time too, so if she woke before I was 'ready' he could take her. I could also put a wash load in, wash the dishes, general tidying etc. Once I got wise to it, it became the most productive couple of hours of the day!
At first I was actually getting up at half 7, waving DH off to work within minutes and being left all bedraggled, unshowered, hungry and not knowing where to start! And baby was then fully awake and ready for the relentless cycle of milk/nappy/cuddle/sleeponme/milk/nappy/cuddle/sleeponme/milk/nappy/cuddle/sleeponme/ !!!
So in short, I would give up sleeping in longer and instead get my arse in gear. Although I might be more tired, I would be tired anyway, so I might as well get myself ready to face the day.
I think sleep becomes such a big deal with a baby, I felt like I was an idiot not to take an opportunity to sleep, but sometimes a shower, food and a coffee is just as important!
I used to hate it when friends would pop round unexpectedly, or I would get a text inviting me somewhere, and I would be sat on the sofa still in pjs nowhere near ready to leave the house. I often didn't take people up on last minute plans because the thought of trying to leave the house was too overwhelming.
I would also find out about local baby groups, see what days your friends or close family are usually free, give yourself a reason to have to get ready. Every Sunday night, make plans for the week ahead. Even if it's only an hour or two per day, it's a plan and a reason to get ready to go out.