Do go. How you ask or inform is more a matter of your own style. For myself, something hormonal started happening in the third week after the rush of delivery ... the hormones were wearing off and the sleep deprivation was coming on strong. So, it might not be a bad idea to give them the first week together and then come for week 2 and 3.

I would have given anything to have been able to be there when my daughter gave birth and she would have loved having me there. Make the offer. My daughter now lives with me and I get to see my granddaughter everyday. Life is good.