I will not worry you with my first few months, as I know it was unusually difficult, but as a result can say that it's def. worthwhile for DH to get a few things which just for him and DC... one poster said that their DH loved having hte baby in a Babybjorn - My DH and DS have a little trip every Saturday morning, usually at least 30 minutes (but when they're only weeks old it might only be 15 minutes!)... and love it so much that he's moved on to baby back carrier more recently. They also "always" do bathtime... it just means that they have something which is just theirs, and you have a time which you know is relatively peaceful, even if it's just 10 minutes.
If you don't have any relatives/friends to hand it is difficult. If you do, great, if you don't and can get a sensible/mature babysitter, that's great. If you can't even get your head around arranging such a thing, see if your DH will. He might have more motivation to get on with it ifswim. It only has to be an hour. At the same time, don't beat yourself up if you don't get out immediately by yourselves.
I couldn't leave the house for 6 weeks, but then took DS to Oz at 6 months, so it doesn't mean it will be like that forever!
Oh, and the lack of sleep thing just becomes normal after a while, and you stop complaining about it :-) I found brushing my teeth and a wet flannel round the face helped alot - but there was a point where I felt as if I was doing it 6 times a day....also, I did try to let it flow over me, but not always easy if you're at all anxious about them crying/sleeping/feeding etc.
Finally, it always seems to be getting so much better that we had exactly the same "I could cope if the baby arrived already 6 months old" conversation at 6, 9, 12 and 18 months!! YOu don't realise how tough it was until it gets easier. I guess that's so you don't give up!
Congratulations, and good luck.