I found that it wasnt too hard when DD#2 was a newborn - I could put her in the rocker, or in one arm while I tended to DD#2.
I still put DD#1 to bed first (as she's in bed at 6:30pm!) so it can be tricky - it got hard when DD#2 became mobile, but I think you just have to be organised, and have plenty of patience!
It gets harder as you get better at it too if that makes sense, so it doesn't seem as bad!
All the best darl