When to start preparing for baby...?

I'm about to hit 20 weeks, and as I'm approaching the halfway point I'm starting to wonder when I need to prepare things for our little girl. We already have pretty much everything aside from a diaper bag bought & my sister had a girl about 9 months ago, so we have plenty of clothes coming out way. So that just leaves the other things -- when to organize & prepare the nursery, when to pack the hospital bag + do the hospital tour, and if there's certain exercises or things I need to be doing / getting to prepare for labor? Its our first, so I just want to be prepared. Any kind of advice would be appreciated!