It's important that before the arrival of your new addition, you start to prepare your pets, if possible, by preparing the nursery a few weeks out and adding other things like bouncers, blankets and toys around the house to let them get comfortable with the new changes.
When the baby comes home, the first meet should always be controlled; let your pets use their sense of smell to start to familiarise themselves with the new baby. Always make sure you supervise any interactions just to be safe.
It is important to keep the routine of the pets as close to normal as possible, feeding times particularly, also ensuring you can squeeze in that little brush or cuddle time with the cat and the walk with the dog or even just throwing a ball a few times. They need to know that the baby arriving is part of normal life.
You may also consider earlier familiarising your dog to a day care environment as they can be great for helping exercise and stimulate them if time does get away from you. As children age, it's important to teach them to be gentle and respect their pets and that they are not a new vacuum cleaner! Then it's just time to get more SD cards for the camera, because the cute moments come thick and fast!