I would look into whether your local humane society or a parenting group offers a pet-adjustment class. There's one here that is really well done and helped my friend get her very spoiled "only child" ready to be a doggie big sister.
I wouldn't have them in the car when you come home, I would have your DH bring a blanket smelling of you and baby to the house, let them get used to that, and then slowly introduce them in person.
I will warn you: be prepared to make major adjustments if they aren't accepting - some dogs are not able to cope and you might need to decide whether they need to have professional obedience training, become outdoor dogs or even find a new home without children.
Wife to my best friend
DD1 (4/15/10) and