Going back to work after a baby has been born gets easier over time I think.
You have two different sides of the story - the worrying about not being there to help and to join in with the development of the new child; and the other side is being able to provide for the long term growth of the family - this has the added benefit of being able to concentrate on a different task and allows you to 'zone-out' of the concerns of parenthood to some extent.

Still, I think I would much rather stay at home to experience everything, though if there was an easy way to be able to have a compromise of both sides, I think everyone would be doing it.

Cheers,
Marc.