FTM question! Cribs?

This maybe a silly question but I never really thought about it until recently. We have a crib and a pack and play with a bassinet. Are babies supposed to go in the crib right after birth or do they have to be a certain age? Or is it preference? We have a 1 bedroom house so both will be in close proximity to us. Only 7w here so lots of reading and learning ahead of me!