Mom with 2 under 2..

do you take your babies out to places? I really want to take my kids to the zoo this summer but me and my bf are really worried how that would turn out lol. we want to do many things since we are always inside some ideas would be going to the beach, downtown, the park & have a picnic maybe some museums n the zoo. if we go around June our oldest will be 20 months n our youngest 4 months. any suggestions or advice? ☺