Our kid is not quite here but the parenting has already begun. My wife's sleep is very disrupted due to the incessant kicking, and in turn mine. Sex has been physically impossible for many months and her hormones make it mentally impossible. She's too tired to do many chores so my load has doubled.
But we are happy, I'm crying tears of joy many times a day, never felt it before. If anything I feel more confident in our relationship, we find ways to be sweet to each other. This is what we wanted and no surprises here. We did the work, therapy, and talked about it and planned constantly.
We were once like that though, communication is a skill that we learned the hard way. If you're feeling unsure, please don't have children (yet!). The parenting preparation can take years, don't rush it.