needing quick some advice/ tough love

My daughter HATES the car, stroller, everything that isn't my arms. The only way we have ever gone out of the house with her is by having someone drive with me in the back seat entertaining her. My parents live with me and usually watch her or tag along if I need to run out to do quick errands like grab a loaf of bread or get a coffee or something, which isn't very often because I always wait for husband to be off and up to it so we all go together. Me and my parents had a huge falling out, my husband has a long work week and I need a few groceries and I have to ship something... can someone give me words of encouragement for leaving the house with my screaming, moody baby?! Should I just wait for him to wake up? I don't feel like dragging him around cause he's tired :(