Oh, I can acutely remember those days. It can only get better.
Make sure they are warm (but not too hot), well fed ( mine always fell off the tooter fast asleep) and we always found if they were ‘swaddled’, wrapped up in a blanket with their arms tucked in worked, so their arms weren’t flailing around. With my 3 kids they did spend lots of time inbetween me and spouse in our bed, but, hey, they settled quickly and we rested too. I’m afraid it goes with the territory tho’.