Feel like a bad mom

Seriously it always looks like I don’t know what I’m doing around others bc my baby cry’s a lot. I go out with her in public and she cried I had to pick up her. She pooped everywhere including on me and the poor lady who was interviewing me for food stamps was like “poor mama” but she was reminding me that it’s normal and the first few months are hard. Im 21 and my baby is 6 weeks old. This mother stuff is harder than I thought..