How did you know you were ready?

My husband and I are thinking about TTC.  We are over 30, financially stable, very loving and open people.  All of our friends are having kids.  But I can't shake a small amount of doubt about my readiness to be a mother.  I think it's really important to be fully ready, both mentally and physically, for such a life change.  On the other side of the coin, I know that if I wait too long it could be too late, and that most parents tell you that there's "no right time".  What makes you feel like it's time?  How do you know you're truly ready?