Introducing Dog to Baby

I have a 90 lbs Yellow Labrador Retriever that thinks he is a 5 lbs lap dog. He is 6, but as a typical Lab is an eternal puppy. He has a sweet disposition, absolutely no aggression. But...he has jealousy issues. If I'm patting another dog (even my parent's dog who he sees every day and is his sister), he will maneuver himself between us so I can't touch her. Or if my husband and I are hugging he'll jump up to try and separate us. He does it all sweetly and we just laugh at his need for attention, but I'm a little concerned about how he'll react to the baby. Baby is definitely the number one priority! Yet, I don't want to be a neglectful dog mom either. He such a sweetheart. I dont want to change him by yelling, or crating, however he needs to learn some boundaries. Any tips on how to introduce them? Dos and Don'ts of the early days to prevent lasting resentments?