I told my kids if they wanted help I would be there. all they have to do is ask. Otherwise i keep my nose out.
most chose to do it alone, they felt they needed to establish their own routine.(DH and i felt the same when we had ours) The kids all know we will be there if they need us.
I don't like the assumption some have that the new parents "don't know what to do" or "can't handle" it. i have more confidence in my kids that that. they are all quite capable of taking care of themselves AND a baby.