We had our first when I was 37 and our second when I was 43. It wasn't so bad - it's tiring but I'm also a lot more emotionally mature than I was in my 20s and early 30s. And I have an absolute ton more money and stability (which also helps pay for things like nannies and school).
The thing I'm a little sad about is that I'm unlikely to be there for too long when my kids have kids.
