When is family visiting after baby arrives?

We are expecting our first and our families are getting excited. I am not sure what to tell them about when they should come to visit after the baby arrives. I want to have some sort of routine kind of established before family is there. And I know I will be stressed out if my mom and MIL try to tell me how to do everything right away! I want to hear their advice but I also want to do things my own way which for some things is quite different than what they did 30 years ago. 
Anyone have advice on if family should come right away or if it's ok to wait a few weeks after baby arrives?