When you get home after you have your baby will some other adult or older responsible kid be there? If so you can always show them how to help. Don’t be scared/ feel bad because at the end of it you end up with all the work.
If dad is taking family leave, He can take the night shift which involves changing diapers, rocking baby to bed, cleaning up the house etc. While momma rests up and take the morning shift and dad rests.
If mom bottle feed anyone can chip in. With bagging and measuring mom can show how to do it and dad could help with that. Washing all pump parts/ bottles can be done by dad too. Make food or bring snacks for momma.
Older kids like teens can help carry baby when fussy. Help pick up baby clothes and put them in washer/hamper. If they cook they can make mom some food. Bring mom snacks/drinks.