insurance and financial questions for experienced moms 😭

Hey! I'm a first time mom and basically just feeling REALLY overwhelmed with all the insurance prep I need to do for baby. Like 😬😬😳😳😱😱 no one ever taught me about this or even has told me how they prepared? I'm under 26 so on my parents insurance for now. I'm paying the deductible for delivery, etc. my question: will the baby be able to be on my insurance with me or have to go on my husbands insurance? Just worried because my husband's insurance costs $500/month if we add a dependent. Is this normal??