Nervous for first real outing with newborn

My husband are going to drive half an hour to a park for a stroller walk with our 3 week old this weekend and I’m nervous because I’ve never done this before. Should I plan on feeding burping and changing him just before we head out? Should I plan on possibly needing to change him in the back of our car and breast feed from the car as well if he gets hungry while we’re out for a bit? (I’m exclusively breastfeeding.) I guess that’s it right - just prepare for those scenarios? Anything else I should have handy? This may sound rudimentary but I’m a FTM and am also a little anxious about outings currently.