I had the same fears as well regarding bringing a newborn home. I was so much more scared of that part, than I was of the actual birth.

I didnt feel like it came naturally for at least 2-3 weeks, but you get through it and a lot of mums do find it all comes naturally from the get go.

Babies are pretty resilient, but I was scared to bathe DS or to burp him sitting up - DH did both of those things for weeks.

Your antenatal classes should go over things like this and if they dont then ask about them.